A pose decoupling measurement and control method and device for a diagonally running carrying unit

Abstract

The application discloses a pose decoupling measurement and control method and device for a diagonal operation bearing unit, relates to the technical field of pose state measurement and control, and solves the problem that normal translation response and pitching response are coupled and difficult to be coordinately controlled. The method acquires normal motion responses of an upper part and a lower part of the bearing unit, calculates normal translation response and pitching response according to position parameters of measuring points of the two acquired positions relative to a current center of mass position of the bearing unit and a load as a whole, determines translation and pitching response indexes in combination with action position parameters of the upper part and the lower part relative to the current center of mass position, calculates target equivalent stiffness and / or target equivalent damping of control channels of the upper part and the lower part, and adjusts a controlled execution unit on line, so that a common action component forms a normal resultant force, and a difference action component forms a control torque in combination with the two action positions.

Description

Technical Field

[0001] This invention relates to the field of posture measurement and control technology, specifically to a method and device for posture decoupling measurement and control of an obliquely running bearing unit. Background Technology

[0002] During the segmented construction of the inclined tower, a hydraulic climbing formwork system can be used to complete tasks such as formwork erection, rebar installation, embedded component placement, and concrete pouring. As the construction segments gradually rise, the climbing formwork operation area continuously changes along the inclined profile of the tower. During construction, it is necessary to continuously hoist or transfer components, tools, and other work materials to different construction segments. To facilitate these lifting operations, an inclined running path extending along the inclined direction of the tower can be set up on the outside of the tower, and a load-bearing unit running in the inclined running direction can be configured. This load-bearing unit is used to receive and transfer lifting loads such as materials, components, and tools, allowing the lifting load to be transferred along a path close to the target work area, reducing multiple hoisting and transfer operations within the high-altitude work area.

[0003] A typical application scenario is the construction of a single-tower cable-stayed bridge without backstays. The angle between the inclined extension direction of this tower and the horizontal plane is approximately 58°, and the length of the tower above the bridge deck is approximately 128m, which is a construction scenario with a large inclination angle and a long stroke. During construction, the load-bearing unit needs to move across multiple construction segments. As the position of the load-bearing unit and the load it bears change, the load mass, load distribution, and external wind load also change dynamically. At the same time, due to the limitation of the working space outside the tower, the load-bearing unit is usually difficult to arrange symmetrically relative to the inclined running path, which may cause the current center of mass of the load-bearing unit to be offset in the normal direction relative to the guiding constraint part. The guiding constraint part refers to the part of the load-bearing unit that comes into contact with or is connected to the guiding structure used to limit its running path and bear the normal force during the inclined running process; the normal direction refers to the direction located in the main working plane containing the inclined running direction and perpendicular to the inclined running direction.

[0004] Under the aforementioned conditions of steep incline operation, the load-bearing unit and its load are subjected to gravity, inertia during start-up, stop-up, or braking, and external disturbances. These, combined with the structural offset and guiding constraints of the load-bearing unit, can induce dynamic effects along the normal direction. These dynamic effects, along with the current center of mass's normal offset relative to the guiding constraint, make the load-bearing unit prone to continuous or periodic normal motion responses during incline operation, start-up, stop-up, or braking. Since the normal direction corresponds to the direction in which the load-bearing unit approaches or moves away from the guiding constraint, this normal motion response can cause periodic changes in the contact load, gap state, and connection force at the guiding constraint. In severe cases, it can even lead to localized impacts, alternating forces, or instability during load transfer. Therefore, the normal motion response is a crucial dynamic response reflecting the stable operating state of the load-bearing unit.

[0005] The motion response of the load-bearing unit within the main working plane typically includes normal translational response and pitch response. During normal translation, the upper and lower parts of the load-bearing unit usually move in the same direction along the normal, potentially causing the entire unit to repeatedly move closer to or further away from the guide constraint, resulting in synchronous load fluctuations at the upper and lower guide constraint locations. During pitch, the upper and lower parts of the load-bearing unit may experience localized movements of different amplitudes or in opposite directions along the normal, causing the upper and lower guide constraint locations to alternately bear or unload loads. Normal translational vibration may exacerbate the overall normal offset of the load-bearing unit and the alternating stress at the connection points, while pitch vibration may further exacerbate uneven stress distribution and localized impacts on the upper and lower parts of the load-bearing unit.

[0006] Because the current centroid position, load distribution, and guiding constraint state change with operating conditions, the normal translational response and pitch response may also be coupled. The normal motion response obtained at a single location usually includes both the normal translational component and the local normal component caused by pitch motion. Based solely on the normal motion response at a single location, it is difficult to accurately distinguish or calculate the normal translational and pitch responses of the bearing unit. It is also difficult to coordinate and adjust the control actions of the upper and lower parts of the bearing unit according to the changes in operating conditions during large tilt angles and long strokes of oblique operation, thus making it difficult to simultaneously control the normal translational vibration and pitch vibration of the bearing unit. Summary of the Invention

[0007] The purpose of this invention is to provide a method and device for decoupling the position and orientation measurement and control of a load-bearing unit that operates at an angle, in order to solve the problems that the normal translational response and pitch response of the load-bearing unit are coupled with each other during oblique operation, making it difficult to accurately characterize the position and orientation response state, and making it difficult to simultaneously control the normal translational vibration and pitch vibration.

[0008] In a first aspect, a method for decoupling the measurement and control of the pose of an obliquely running bearing unit is provided, comprising: acquiring the upper normal motion response of the upper part of the bearing unit in the normal direction, and the lower normal motion response of the lower part of the bearing unit in the normal direction; wherein, the bearing unit runs along an oblique running direction, and the normal direction refers to a direction located in a main working plane containing the oblique running direction and perpendicular to the oblique running direction; based on the upper normal motion response, the lower normal motion response, and the respective acquisition positions of the upper normal motion response and the lower normal motion response relative to the bearing unit and the bearing unit... The normal translational response and pitch response of the bearing unit are calculated based on the position parameters of the current center of mass of the entire system formed by the load borne by the bearing unit. The normal translational response and pitch response constitute the decoupled measurement results of the bearing unit's pose response in the main working plane. The normal translational response index is determined based on the normal translational response. The upper pitch response index and lower pitch response index are determined based on the pitch response and the position parameters of the upper and lower controlled execution units acting on the bearing unit relative to the current center of mass. Based on the normal translational response index, the upper pitch response index, the lower pitch response index, and the action position parameters, the target control parameters for the upper control channel and the lower control channel are calculated respectively. The target control parameters include target equivalent stiffness and / or target equivalent damping. Based on the target control parameters of the upper and lower control channels, control commands are output to the upper and lower controlled execution units located on the upper and lower parts of the bearing unit, respectively, to adjust the equivalent stiffness and / or equivalent damping of each of the upper and lower controlled execution units online. Wherein, the upper... The combined action component formed by the superposition of the controlled execution unit and the lower controlled execution unit along the normal direction is the common action component. The difference between the action quantities of the upper controlled execution unit and the lower controlled execution unit along the normal direction is the differential action component. The upper controlled execution unit and the lower controlled execution unit are adjusted online by the control command so that the common action component forms a normal resultant force to suppress the normal translational vibration of the bearing unit, and the differential action component, combined with the upper action position and the lower action position, forms a control torque to suppress the pitch vibration of the bearing unit.

[0009] As an optimization and / or instantiation of the above-mentioned pose decoupling measurement and control method, further: both the upper controlled execution unit and the lower controlled execution unit are controlled normal tuned mass modules. Each controlled normal tuned mass module includes a tuned mass block capable of moving relative to the bearing unit along the normal direction, an elastic element, a damper, and a tuning execution mechanism that operates in response to the control command; the online adjustment of the equivalent stiffness and / or equivalent damping of the upper controlled execution unit and the lower controlled execution unit includes: adjusting the equivalent stiffness and / or equivalent damping of the corresponding controlled normal tuned mass module online via the tuning execution mechanism according to the target control parameters of the corresponding control channel, so that the adjusted tuned mass block generates a relative motion matching the target control parameters along the normal direction under the vibration excitation of the bearing unit, thereby suppressing the normal translational vibration and pitch vibration of the bearing unit.

[0010] As an optimization and / or instantiation of the above-mentioned pose decoupling measurement and control method, further: the upper action position and the lower action position are spaced apart along the oblique running direction; the current centroid position is located between the upper action position and the lower action position in the oblique running direction; and the distance between the upper action position and the current centroid position along the oblique running direction is l. u The distance between the lower operating position and the current centroid position along the oblique running direction is l. l The step of separately calculating the target control parameters for the upper and lower control channels includes: determining the translational control component based on the normal translational response index, determining the pitch control component based on the upper pitch response index and the lower pitch response index, and determining the pitch control component based on the translational control component, the pitch control component, and the range l. u and distance l l The target control parameters for the upper control channel and the lower control channel are determined respectively, so that the common action component forms a normal resultant force to suppress the normal translational vibration, and the differential action component is facilitated by the distance l. u and the distance l l A control torque is formed to suppress the pitch vibration.

[0011] As an optimization and / or instantiation of the above-mentioned pose decoupling measurement and control method, further: before calculating the normal translational response and pitch response of the bearing unit, the current center of gravity position is determined first. Determining the current center of gravity position includes: acquiring the support force generated by the load borne by the bearing unit at each load support position using load sensors installed at multiple load support positions of the bearing unit when the bearing unit is stationary; determining the mass and center of gravity position of the load borne by the bearing unit based on the support force and the coordinates of the corresponding load support positions; and combining this with pre-stored unloaded mass and unloaded center of gravity position of the bearing unit to determine the current center of gravity position. The current center of gravity position at least includes the position of the center of gravity of the entire system in the oblique running direction. After the bearing unit stops running and the load it bears changes, the current center of gravity position is re-determined. The current center of mass position is determined. After determining the current center of mass position, the measurement point position parameters of the acquisition positions of the upper normal motion response and the lower normal motion response relative to the current center of mass position are determined, as well as the action position parameters of the upper action position and the lower action position relative to the current center of mass position. Based on the determined measurement point position parameters, the normal translational response and the pitch response are calculated according to the upper and lower normal motion responses. The normal translational response index is determined based on the normal translational response. The pitch response index corresponding to the upper action position and the lower action position is determined based on the pitch response and the determined action position parameters. The target control parameters of the upper control channel and the lower control channel are determined based on the normal translational response index, the pitch response index, and the determined action position parameters.

[0012] As an optimization and / or instantiation of the above-mentioned pose decoupling measurement and control method, further: the upper normal motion response and the lower normal motion response are respectively the upper normal acceleration response a u (t) and the lower normal acceleration response a l (t), the current centroid position is located in the upper normal acceleration response a in the oblique running direction. u The location of (t) and the lower normal acceleration response a l The positions of (t) are between the locations of the upper normal acceleration response a. u The distance d between the location where (t) is obtained and the current centroid location along the oblique running direction is... u The lower normal acceleration response a l The distance d between the location where (t) is obtained and the current centroid location along the oblique running direction is... lThe normal translational acceleration response quantity a, which characterizes the normal translational response quantity, is determined according to the following relationship. t (t): a t (t)=[d l a u (t)+d u a l (t)] / (d u +d l The pitch angular acceleration response α(t) characterizing the pitch response is determined according to the following relationship: α(t) = [a u (t)-a l (t)] / (d u +d l ).

[0013] As an optimization and / or instantiation of the above-mentioned pose decoupling measurement and control method, further: the normal translational acceleration response a is respectively... t Frequency domain analysis was performed on the pitch angle acceleration response α(t) and the pitch angle acceleration response α(t) to determine the normal translational characteristic frequency f corresponding to the normal translational vibration. t The pitch characteristic frequency f corresponding to the pitch vibration r Determine the normal translational acceleration response quantity a. t (t) at the normal translational characteristic frequency f t Nearby normal translational frequency band response energy index E t For the i-th controlled execution unit, the signed position parameter l of the controlled execution unit relative to the current centroid position along the oblique running direction is used. i The equivalent normal acceleration response a caused by pitch vibration at the location of action is determined according to the following relationship: ri (t): a ri (t)=l i α(t); based on the equivalent normal acceleration response a ri (t), determine its value at the pitch characteristic frequency f r Nearby equivalent pitch frequency band response energy index E ri According to the normal translational characteristic frequency f t The pitch characteristic frequency f r The normal translational frequency band response energy index E t and the equivalent pitch frequency band response energy index E riThe target control parameters for the i-th controlled execution unit are determined; where i is 1 or 2, the current centroid position is taken as the origin, and the direction pointing from the oblique running direction to the upper action position is taken as the positive direction. The first controlled execution unit is the upper controlled execution unit, the second controlled execution unit is the lower controlled execution unit, and l1=l u l2=-l l .

[0014] As an optimization and / or instantiation of the above pose decoupling measurement and control method, further: the i-th controlled execution unit is a controlled normal tuning quality module, and the target control parameters include the target tuning frequency f. i Target damping ratio ζ i Target equivalent stiffness k i Equivalent damping c to the target i ; when E t +E ri When the energy value is greater than the preset minimum energy value, the target tuning frequency f is determined according to the following relationship. i The target damping ratio ζ i The target equivalent stiffness k i and the target equivalent damping c i :f i =(E t f t +E ri f r ) / (E t +E ri );ζ i =ζ min +(ζ max -ζ min (E) t +E ri ) / (E t +E ri +E0); k i =m i (2πf i ) 2 ;c i =2ζ i (k i m i ) 1 / 2 ; where m i Let ζ be the mass of the tuning mass block in the i-th controlled normal tuning mass module. min and ζ max These are the preset minimum and maximum damping ratios, respectively, and E0 is the preset response energy reference value; when E t +E riWhen the energy value is not greater than the preset minimum energy value, the target tuning frequency, target damping ratio, target equivalent stiffness, and target equivalent damping of the i-th controlled normal tuning mass module are maintained.

[0015] As an optimization and / or instantiation of the above pose decoupling measurement and control method, further: the comprehensive response index J is determined according to the following relationship: J = w t E t +w r1 E r1 +w r2 E r2 Among them, w t w is the preset weight corresponding to the normal translational frequency band response energy index. r1 and w r2 E represents the preset weights of the equivalent pitch frequency band response energy index corresponding to the upper and lower action positions, respectively. r1 and E r2 The equivalent pitch frequency band response energy indices corresponding to the upper and lower action positions are respectively; after each adjustment of the equivalent stiffness and / or equivalent damping of the upper and lower controlled execution units, the comprehensive response index J is re-determined; when the re-determined comprehensive response index J is less than the preset response index threshold, the current target control parameters of the upper and lower control channels are maintained; when the re-determined comprehensive response index J is not less than the preset response index threshold, the target control parameters of the upper and lower control channels are updated according to the re-determined normal translational frequency band response energy index and the equivalent pitch frequency band response energy indices corresponding to the upper and lower action positions respectively.

[0016] As an optimization and / or instantiation of the above-mentioned pose decoupling measurement and control method, further: the angle between the oblique running direction and the horizontal plane is 45° to 75°, and the movable stroke of the bearing unit in the oblique running direction is not less than 50m.

[0017] Secondly, a pose decoupling measurement and control device for an obliquely moving carrier unit is provided, including a processor, a memory, a sensor data interface, and an execution control interface. The sensor data interface includes an upper input channel for receiving the upper normal motion response of the upper part of the carrier unit and a lower input channel for receiving the lower normal motion response of the lower part of the carrier unit. The execution control interface includes an upper output channel for outputting control commands to the upper controlled execution unit and a lower output channel for outputting control commands to the lower controlled execution unit. The memory stores a computer program. When the computer program is executed by the processor, the processor acquires sensor data through the sensor data interface, outputs control commands through the execution control interface, and executes the pose decoupling measurement and control method described in the first aspect.

[0018] This invention solves for the translational and pitch responses based on the upper normal motion response of the upper part of the bearing unit, the lower normal motion response of the lower part of the bearing unit, and the position parameters of two measurement points relative to the current center of mass. It can distinguish the superimposed translational and pitch components in the two normal motion responses based on the two normal motion responses and their measurement point position parameters, forming a decoupled measurement result of the bearing unit's pose response in the main working plane, which helps to more accurately characterize the actual pose response state of the bearing unit.

[0019] The normal translational response index is determined based on the normal translational response quantity. Furthermore, the upper pitch response index and lower pitch response index are determined based on the pitch response quantity and the position parameters of the upper and lower action positions relative to the current center of mass position. Therefore, by combining the current center of mass position and the lever arm relationships at different action positions, the target control parameters for the upper and lower control channels can be calculated separately, ensuring that the control actions of the upper and lower channels match the current normal translational response, pitch response, and load distribution state of the load-bearing unit.

[0020] By adjusting the equivalent stiffness and / or equivalent damping of the upper and lower controlled actuators online, the combined action component formed by the superposition of the two controlled actuators in the normal direction can form a resultant normal force that suppresses normal translational vibration. Furthermore, the differential action components of the two actuators, combined with the upper and lower action positions, form a control torque that suppresses pitch vibration. This allows for the control of both normal translational and pitch vibrations of the bearing unit, reducing the possibility that controlling only one vibration mode may result in the other vibration mode not being effectively suppressed.

[0021] In the implementation using a controlled normal tuned mass module, the equivalent stiffness and / or equivalent damping of the controlled normal tuned mass module can be adjusted online according to the target control parameters of the corresponding control channel, so that the tuned mass block generates relative motion matching the target control parameters under the vibration excitation of the load-bearing unit. Therefore, when the load mass, load distribution, current center of mass position, and dynamic response change, the operating state of the controlled normal tuned mass module can be adjusted accordingly, reducing the possibility of the fixed-parameter tuned structure deviating from the current vibration state.

[0022] In the implementation method of determining the current centroid position through multiple load sensors, the load mass and load centroid position can be determined based on the support force and coordinates of each load support position. The current centroid position can be determined by combining the unloaded mass and unloaded centroid position of the bearing unit. This allows the measurement point position parameters and the action position parameters to be updated as the load distribution changes, which helps to reduce the errors caused by decoupling the pose response and determining the control parameters due to the use of a fixed centroid position.

[0023] In the implementation method that uses frequency domain analysis and frequency band response energy index, the target tuning frequency, target damping ratio, target equivalent stiffness and target equivalent damping of each controlled execution unit can be determined according to the normal translational characteristic frequency, pitch characteristic frequency, normal translational frequency band response energy index and equivalent pitch frequency band response energy index, so that the target control parameters simultaneously consider the frequency characteristics and response intensity of normal translational vibration and pitch vibration.

[0024] In the implementation using the comprehensive response index, the response state of normal translational vibration and pitch vibration can be re-evaluated after adjusting the upper and lower controlled execution units. The target control parameters can be maintained or updated based on the comparison result between the comprehensive response index and the preset response index threshold, thereby avoiding frequent parameter adjustments when the response already meets the control requirements, and enabling the target control parameters to be updated with changes in operating conditions and dynamic response.

[0025] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the inclined operation scenario of the bearing unit involved in the present invention during the construction of a single-tower cable-stayed bridge without backstays.

[0027] Figure 2 This diagram shows the acquisition positions of the upper and lower normal motion responses, the current centroid position, and the upper and lower action positions.

[0028] Figure 3 This diagram illustrates the relationship between the upper and lower normal acceleration responses and the normal interaction between the upper and lower controlled execution units.

[0029] Figure 4 This is a schematic diagram of a specific embodiment of the controlled normal tuning quality module involved in this invention.

[0030] Figure 5 This is a schematic diagram of another specific embodiment of the controlled normal tuning mass module involved in this invention.

[0031] Figure 6 This diagram illustrates how the current center of mass position is determined by the support forces at multiple load support locations.

[0032] Figure 7 This is a schematic diagram showing the composition and signal connection relationship of the pose decoupling measurement and control device involved in this invention.

[0033] Figure 8 This is a time-domain comparison diagram of the normal translational acceleration response of the pose decoupling measurement and control method described in this invention under the pre-control and post-control conditions.

[0034] Figure 9 This is a time-domain comparison diagram of the pitch angle acceleration response of the pose decoupling measurement and control method described in this invention under the pre-control and post-control conditions.

[0035] Figure 10 This is a frequency domain comparison diagram of the normal translational acceleration response of the pose decoupling measurement and control method described in this invention under the pre-control and post-control conditions.

[0036] Figure 11 This is a frequency domain comparison diagram of the pitch angle acceleration response of the pose decoupling measurement and control method described in this invention under the pre-control and post-control conditions.

[0037] The diagram is labeled as follows: 1-Tower body; 2-Bearing unit; 31-Tuned mass block; 32-Elastic element; 33-Damper; 34-Mounting frame; 35-Guide assembly; 36-Adjustable spring seat; 37-Limit block; 38-Buffer pad; 41-Processor; 42-Memory; 43-Sensing data interface; 44-Execution control interface. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that the following specific embodiments are used to illustrate the technical solutions of the present invention, and are not intended to unduly limit the scope of protection of the present invention. Where there is no contradiction, the technical features described in the following specific embodiments can be combined with each other.

[0039] like Figure 1 As shown, this specific embodiment takes the construction process of a single-tower cable-stayed bridge without backstays as an example. The tower forms a tower body 1 extending upwards in a direction inclined relative to the horizontal plane. During the segmented construction of the tower body 1, the hydraulic climbing formwork system gradually climbs upwards with each construction segment, and components, tools, and other work materials need to be hoisted or transferred to different construction segments accordingly. To facilitate the above operations, an inclined running path extending along the inclined direction of the tower body 1 is set on the outside of the tower body 1, and a bearing unit 2 capable of running along the inclined running path is configured. The bearing unit 2 is used to receive and transfer materials, components, tools, and other lifting loads, and during the inclined running process, it cooperates with the guide structure extending along the inclined running direction through the guide constraint part. The guide structure limits the running path of the bearing unit 2 and bears the normal force generated by the bearing unit 2, thereby enabling the lifting load carried to be transferred to different construction segments along the outside of the tower body 1.

[0040] In this engineering scenario, the angle between the oblique running direction and the horizontal plane is approximately 58°, falling within the range of 45° to 75°; the tower length above the bridge deck is approximately 128m, and the movable travel distance of the bearing unit 2 in the oblique running direction is over 90m. During operation, the bearing unit 2 needs to traverse multiple construction segments, and the mass of the load it bears and the distribution of the load within the bearing unit 2 may change during the operation, causing a corresponding change in the current center of mass position of the entire structure formed by the bearing unit 2 and the load it bears. When the operating position of the bearing unit 2 changes, the external wind load and guiding constraint state it experiences may also change accordingly. Simultaneously, due to the limitations of the installation and working space outside the tower body 1, the bearing unit 2 and its load are offset relative to the guiding structure, creating a normal offset between the current center of mass position and the guiding constraint location.

[0041] like Figure 2 and Figure 3As shown, the oblique running direction is represented by S, and the normal direction is represented by N. The normal direction N refers to the direction located within the main working plane containing the oblique running direction S and perpendicular to the oblique running direction S. In each plane containing the oblique running direction S, the orientation of the main working plane is determined by the direction in which the bearing unit 2 approaches or moves away from the guide constraint part. That is, the main working plane is a plane that simultaneously contains the oblique running direction S and the direction in which the bearing unit 2 approaches or moves away from the guide constraint part. Therefore, the normal direction N is also the direction in which the bearing unit 2 approaches or moves away from the guide constraint part. It should be understood that the main working plane is used to characterize the plane orientation jointly determined by the oblique running direction S and the normal direction N. Any plane parallel to this plane orientation is considered the main working plane, and it is not limited to a single geometric plane at a specific spatial location. Correspondingly, the motion response of the bearing unit 2 within the main working plane refers to the motion response component with the translational direction parallel to the main working plane and the rotation axis perpendicular to the main working plane; the current centroid position G and the upper acquisition position M mentioned later. u Lower part obtains position M l Upper position of action A u and the lower part of the working position A l The relevant positions are not required to be actually located in the same geometric plane. The motion response and action quantity along the normal direction N at each position are all processed according to the directional component parallel to the main working plane. In the above-mentioned operating environment with large tilt angles, long strokes, and load states that change with the operation process, the bearing unit 2 may simultaneously generate normal translational response and pitch response within the main working plane when it is running, starting, stopping, braking, or subjected to disturbances such as external wind loads. The pitch response refers to the rotational response generated by the bearing unit 2 about an axis perpendicular to the main working plane.

[0042] The normal motion response acquired at a single position on the upper or lower part of the bearing unit 2 may include both the normal translational component formed by the overall movement of the bearing unit 2 along the normal direction N, and the local normal component formed at that acquisition position when the bearing unit 2 undergoes pitching motion. Furthermore, as the current center of mass position changes, the positional relationships of each acquisition position and each action position relative to the current center of mass position also change accordingly. Therefore, relying solely on the normal motion response at a single position, or using a pre-set fixed center of mass position that is not updated with the load state, makes it difficult to accurately characterize the actual pose response of the bearing unit 2 within the main working plane, and also makes it difficult to coordinate and determine the control actions of the upper and lower parts of the bearing unit 2 based on the current load state and the actual action position.

[0043] Based on the above engineering scenarios and operational status, the following combines... Figures 2 to 7This paper describes the acquisition of the normal motion response of the upper and lower parts of the bearing unit 2, the determination of the current center of mass position, the updating of the measuring point position parameters and the action position parameters, the calculation of the normal translational response and pitch response, the determination of the target control parameters of the upper and lower control channels, and the online adjustment process of the upper and lower controlled execution units. The above-described construction scenario of a single-tower cable-stayed bridge without backstays is used to illustrate a specific application of the present invention and does not constitute a limitation on the specific use of the bearing unit 2 or the specific formation method of the inclined running path.

[0044] Example 1: A method for decoupling the position and orientation measurement and control of an obliquely running bearing unit 2 is provided.

[0045] (a) Acquisition of upper and lower normal motion responses

[0046] like Figure 2 and Figure 3 As shown, the upper and lower parts of the bearing unit 2 are distinguished according to the oblique running direction S: the side pointing towards the higher construction section of the tower body 1 along the oblique running direction S is the upper part, and the side along the opposite direction is the lower part.

[0047] The bearing unit 2 and the load it bears form a whole, and the current center of mass position of this whole is denoted by G. A position M for acquiring the upper normal motion response is set on the upper part of the bearing unit 2. u A position M for acquiring the lower normal motion response is provided at the lower part of the bearing unit 2. l The upper part obtains the position M. u and the lower part obtain position M l The components are spaced apart along the oblique running direction S, respectively, to acquire the motion response of the upper and lower parts of the bearing unit 2 in the normal direction N. To improve the resolution of the pitch component, the upper part acquires position M. u Get position M from the bottom l The spacing between them along the diagonal running direction S should be as large as possible, for example, they can be arranged in the upper and lower regions of the structure of the bearing unit 2 respectively.

[0048] In this embodiment, the upper normal motion response and the lower normal motion response are respectively the upper normal acceleration response a. u (t) and the lower normal acceleration response a l (t). Position M is obtained at the top. u An upper inertial sensor is installed at the location, and the upper normal acceleration response 'a' is obtained through the upper inertial sensor. u (t); obtain position M at the bottom. l A lower inertial sensor is installed at the location, and the lower normal acceleration response 'a' is obtained through the lower inertial sensor. l(t). Upper normal acceleration response a u (t) and the lower normal acceleration response a l (t), representing the upper acquisition position M respectively. u and the lower part obtain position M l The change of acceleration along the normal direction N with time.

[0049] The upper and lower inertial sensors can be single-axis accelerometers or inertial measurement units with multiple acceleration measurement axes. When the measurement axis of the inertial sensor is set along the normal direction N, the output of that measurement axis is used as the normal acceleration response for the corresponding acquisition position. When the measurement axis of the inertial sensor does not coincide with the normal direction N, the acceleration data output by the inertial sensor is coordinate transformed according to the installation attitude of the inertial sensor relative to the support unit 2, and the acceleration component along the normal direction N is extracted. Since the support unit 2 runs along the oblique running direction S and the normal direction N is fixed relative to the support unit 2, the above coordinate transformation only needs to be determined based on the fixed installation attitude of the inertial sensor relative to the support unit 2, and does not need to be updated with the running position.

[0050] Upper normal acceleration response a u (t) and the lower normal acceleration response a l (t) A unified sampling clock is used for synchronous acquisition, or synchronization processing is performed according to a time stamp after acquisition, so that the data in the two normal acceleration responses at the same sampling time correspond to each other. The sampling frequency is determined according to the expected frequency range of the normal translational vibration and pitch vibration of the bearing unit 2, for example, more than 10 times the expected highest characteristic frequency, typically 100Hz to 1000Hz. According to actual measurement needs, zero-point correction, drift compensation, abnormal data removal and frequency band filtering can also be performed on the two normal acceleration responses; wherein the passband of the frequency band filter covers the preset normal translational vibration frequency range and pitch vibration frequency range to suppress the influence of gradual changes in gravity components, sensor drift and high-frequency structural noise.

[0051] (II) Upper controlled execution unit, lower controlled execution unit and their operating positions

[0052] An upper controlled execution unit is provided on the upper part of the bearing unit 2. The upper controlled execution unit acts on the upper part of the bearing unit 2 at position A. u A lower controlled execution unit is provided at the lower part of the bearing unit 2, and the lower controlled execution unit operates at position A at the lower part of the bearing unit 2. l Upper functional position A u and the lower part of the working position A lThe positions are spaced apart along the oblique running direction S, and the current centroid position G is located at the upper active position A in the oblique running direction S. u Position A of action with the lower part l between.

[0053] Get position M from the top u Position A of action above u They can be set in the same area of ​​the bearing unit 2, or they can be set at intervals along the oblique running direction S; lower acquisition position M l Position A of action with the lower part l Similarly, they can be set in the same area of ​​the bearing unit 2, or they can be set at intervals along the oblique running direction S. That is to say, the upper acquisition position M u and the lower part obtain position M l It is the location for obtaining the normal motion response, the upper action position A. u and the lower part of the working position A l The position where the controlled execution unit acts on the bearing unit 2 does not need to coincide, and the position parameters of each relative to the current centroid position G are determined separately.

[0054] (III) Determination of the current position of the centroid

[0055] like Figure 6 As shown, before calculating the normal translational response and pitch response of the bearing unit 2, the current centroid position G of the whole consisting of the bearing unit 2 and the load it bears is first determined.

[0056] The load-bearing unit 2 has multiple load-bearing positions for supporting the load, and a load sensor is installed at each load-bearing position. The load sensor can be a spoke-type load cell, a column-type load cell, or a shear beam load cell, or it can be a strain gauge force measuring element installed in the load-bearing structure. In this embodiment, taking four load-bearing positions as an example, the supporting forces obtained by the four load sensors are P1, P2, P3, and P4, respectively, and the position coordinates of each load-bearing position in a preset coordinate system are r1, r2, r3, and r4, respectively. The preset coordinate system can be a local coordinate system established on the load-bearing unit 2, such as a coordinate system with the oblique running direction S and the normal direction N as coordinate axes. The number of load-bearing positions is not limited to four; three or more non-collinearly arranged load-bearing positions can be used.

[0057] Figure 6 In the diagram, G0 represents the position of the unloaded center of mass of the bearing unit 2, and G... LThe position of the load center of gravity of the load borne by the bearing unit 2 is indicated by G, and the position of the current center of gravity of the entire system is indicated by G. The unloaded mass m0 and the unloaded center of gravity position G0 of the bearing unit 2 are determined by weighing, structural calculation or calibration test before the bearing unit 2 is put into operation, and are stored in advance.

[0058] By using load sensors positioned at multiple load support locations of the bearing unit 2, the supporting force generated by the load borne by the bearing unit 2 at each load support location is acquired when the bearing unit 2 is in a static state. Acquiring the supporting force in a static state avoids the intrusion of dynamic components caused by inertia during oblique operation, start-stop, or braking into the supporting force measurement results. When the supporting forces acquired by each load sensor have been converted into equivalent supporting forces in the same direction, the total supporting force P of the load borne is... L Determined according to the following relationship:

[0059] P L =P1+P2+P3+P4.

[0060] The mass of the load it bears m L Determined according to the following relationship:

[0061] m L =P L / g.

[0062] Where g is the acceleration due to gravity. When the force measurement direction of the load sensor is inconsistent with the direction of gravity, the support forces are converted into equivalent support forces in the direction of gravity based on the force relationship of the load support structure and the angle between the oblique running direction S and the horizontal plane before the above calculation is performed.

[0063] Load center of mass position G L The corresponding position coordinates r L Determined according to the following relationship:

[0064] r L =(P1r1+P2r2+P3r3+P4r4) / (P1+P2+P3+P4).

[0065] Let the position coordinates corresponding to the unloaded center of mass position G0 of the bearing unit 2 be r0, then the position coordinates corresponding to the current center of mass position G are r0. G Determined according to the following relationship:

[0066] r G =(m0r0+m L r L ) / (m0+m L ).

[0067] The current centroid position G includes at least the position of the overall centroid in the oblique running direction S. For subsequent pose response decoupling and target control parameter determination, at least the position coordinates of the current centroid position G along the oblique running direction S are used.

[0068] After the load-bearing unit 2 stops operating and the load it bears changes, the current centroid position G is re-determined according to the above process. During periods when the mass and distribution of the load remain unchanged, the most recently determined current centroid position G is used. As a supplementary processing method, when the support force signal contains fluctuation components caused by vibration or transient disturbances, low-pass filtering can be applied to each support force signal, and the load mass and load centroid position can be determined based on the low-frequency components of the support force signal to improve the stability of the support force acquisition results in a static state.

[0069] (iv) Determination of measuring point location parameters and action location parameters

[0070] After determining the current centroid position G, based on the current centroid position G, determine the measurement point position parameters of the acquisition positions of the upper normal motion response and the lower normal motion response relative to the current centroid position G, as well as the upper action position A. u and the lower part of the working position A l The position parameter relative to the current centroid position G.

[0071] like Figure 2 As shown, the current centroid position G is located in the upper normal acceleration response a in the oblique running direction S. u The acquisition position M of (t) u With lower normal acceleration response a l The acquisition position M of (t) l Between. Upper normal acceleration response a u The acquisition position M of (t) u The distance d between the current centroid position G and the oblique direction of motion S is u The lower normal acceleration response a l The acquisition position M of (t) l The distance d between the current centroid position G and the oblique direction of motion S is l Distance d u and distance d l These constitute the position parameters of the measuring point.

[0072] Upper position of action A u The distance between the current centroid position G and the oblique direction of motion S is l u The lower part of the working position A l The distance between the current centroid position G and the oblique direction of motion S is l lDistance l u and distance l l The operational position parameters are defined as follows. Further, with the current centroid position G as the origin, and the direction of operation along the oblique running direction S pointing upwards to the operational position A... u The direction is positive. Define the signed position parameter l of the i-th controlled execution unit relative to the current centroid position G along the oblique running direction S. i Where i is 1 or 2, the first controlled execution unit is the upper controlled execution unit, the second controlled execution unit is the lower controlled execution unit, and l1=l u l2=-l l .

[0073] The distance along the diagonal running direction S referred to here is the coordinate distance of the corresponding position in the diagonal running direction S, without requiring the position M to be obtained from the upper part. u Lower part obtains position M l Upper position of action A u Lower position of action A l The current centroid position G is strictly collinear with the solid structure of the bearing unit 2.

[0074] When the mass or distribution location of the load changes, the current centroid position G changes accordingly, and the measuring point position parameter d... u d l and the position parameter l u l l The parameters are updated accordingly. Therefore, the subsequent pose response decoupling and target control parameter determination are based on the actual centroid position of the bearing unit 2 under the current load state, rather than using a pre-set fixed centroid position that does not change with the load state.

[0075] (v) Calculation of normal translational and pitch responses

[0076] When the bearing unit 2 can be processed approximately according to the rigid body motion in the main working plane, and the pitch angle change satisfies the small-angle motion relationship (the pitch angle usually does not exceed a few degrees), the upper normal acceleration response a u (t) can be represented as:

[0077] a u (t)=a t (t)+d u α(t).

[0078] Lower normal acceleration response a l (t) can be represented as:

[0079] a l (t)=a t(t)-d l α(t).

[0080] Among them, a t (t) represents the normal translational acceleration response at the current centroid position G, and α(t) represents the pitch angle acceleration response of the bearing unit 2.

[0081] Combining the above two equations, the normal translational acceleration response quantity a, which characterizes the normal translational response quantity, is determined according to the following relationship. t (t):

[0082] a t (t)=[d l a u (t)+d u a l (t)] / (d u +d l ).

[0083] The pitch angular acceleration response α(t), which characterizes the pitch response, is determined according to the following relationship:

[0084] α(t)=[a u (t)-a l (t)] / (d u +d l ).

[0085] When the bearing unit 2 undergoes normal translation, its upper and lower parts typically move in the same direction along the normal direction N, and the normal acceleration response of the upper part is a. u (t) and the lower normal acceleration response a l (t) contains the same or similar common response components. When the bearing unit 2 undergoes pitching motion, the upper and lower parts have different or opposite motion amplitudes in the normal direction N, resulting in a difference response component between the two normal acceleration responses. This difference is determined by the measurement point position parameter d. u and d l Response a to the upper normal acceleration u (t) and the lower normal acceleration response a l (t) By performing the above combination, the superimposed normal translational component and pitch component in the two normal acceleration responses can be distinguished, and the normal translational acceleration response quantity a can be obtained separately. t (t) and pitch angle acceleration response α(t). The normal translational acceleration response α t The pitch angle acceleration response α(t) and the pitch angle acceleration response α(t) constitute the decoupled measurement result of the pose response of the bearing unit 2 in the main working plane.

[0086] In other embodiments, the upper normal motion response and the lower normal motion response can also be either a normal displacement response or a normal velocity response, respectively. Accordingly, they can be combined in the same way as described above, based on the measuring point position parameter d. u and d l Solving the translational displacement response and pitch angle response of the algorithm, or solving the translational velocity response and pitch angle velocity response of the algorithm, also constitutes the attitude response decoupling measurement result.

[0087] (vi) Determination of normal translational response index, upper pitch response index and lower pitch response index

[0088] Obtain the normal translational acceleration response a t After obtaining the pitch angle acceleration response α(t) and pitch angle acceleration response α(t), frequency domain analysis is performed on both. The frequency domain analysis can employ fast Fourier transform, power spectral density analysis, or time-frequency analysis methods. The length of the analysis time window is determined based on the expected characteristic frequency and control period, for example, 5s to 30s, and can be updated continuously during the sampling process using a sliding window method.

[0089] Based on the normal translational acceleration response a t The frequency domain results of (t) are used to identify the main frequency components with the largest amplitude or power spectral density within the preset normal translational vibration frequency range, and to determine the normal translational characteristic frequency f corresponding to the normal translational vibration. t Based on the frequency domain results of the pitch angle acceleration response α(t), the main frequency components are identified within a preset pitch vibration frequency range, and the pitch characteristic frequency f corresponding to the pitch vibration is determined. r The normal translational vibration frequency range and the pitch vibration frequency range can be estimated in advance based on the structural dynamic characteristics of the bearing unit 2 and its guiding constraints, or calibrated through on-site excitation tests.

[0090] At the normal translational characteristic frequency f t Set a normal translational analysis frequency band nearby, for example, take f t Centered on, with bandwidth f t The frequency band of ±10% to ±20%, and based on the normal translational acceleration response a. t (t) Determine the response energy index E of the normal translational frequency band within the normal translational analysis frequency band. t The response energy can be taken as the integral of the power spectral density within the frequency band, or as the mean square value of the signal after bandpass filtering in that frequency band. The normal translational frequency band response energy index E... t This constitutes a specific form of the normal translational response index, used to characterize the response intensity of normal translational vibration within the corresponding characteristic frequency band.

[0091] For the i-th controlled execution unit, the signed position parameter l of the controlled execution unit relative to the current centroid position G along the oblique running direction S is used. i The equivalent normal acceleration response a caused by pitch vibration at the location of action is determined according to the following relationship: ri (t):

[0092] a ri (t)=l i α(t).

[0093] Correspondingly, the equivalent normal acceleration response a at the upper action position Au caused by pitch vibration. r1 (t) is l u α(t), the equivalent normal acceleration response a at the lower position Al caused by pitching vibration. r2 (t) is -l l α(t).

[0094] A pitch analysis frequency band is set near the pitch characteristic frequency fr (the setting method is the same as that of the normal translation analysis frequency band), and the equivalent normal acceleration response a is used as the basis for the analysis. ri (t) Determine the equivalent pitch band response energy index E within the pitch analysis frequency band. ri Among them, E r1 One specific form constituting the aforementioned upper pitch response index, E r2 This constitutes a specific form of the lower pitch response index.

[0095] Due to the upper position A u and the lower part of the working position A l Distance l relative to the current centroid position G u and l l The equivalent normal acceleration response α(t) at the same pitch angle may differ at the two positions of application. This can be determined by separately determining E... r1 and E r2 It can characterize the effect of the current pitch vibration on the upper part at position A. u and the lower part of the working position A l The different effects of these factors allow the control actions of the upper and lower control channels to match the actual response state at their respective positions.

[0096] (vii) Calculation of target control parameters for upper and lower control channels

[0097] Based on the normal translational response index, the upper pitch response index, the lower pitch response index, and the applied position parameters, the target control parameters for the upper and lower control channels are calculated respectively. The target control parameters include the target equivalent stiffness and / or the target equivalent damping. Specifically, the translational control component is determined based on the normal translational response index, and the pitch control component is determined based on the upper and lower pitch response indices. Furthermore, based on the translational control component, the pitch control component, and the distance l... u and distance l l The target control parameters for the upper control channel and the lower control channel are determined respectively. In this embodiment, the translational control component is determined by the normal translational characteristic frequency f. t and normal translational frequency band response energy index E t Characterized by the pitch control component being determined by the pitch characteristic frequency f r and respectively corresponding to the upper action position A u and the lower part of the working position A l Equivalent pitch band response energy index E r1 and E r2 Characterization. For the upper control channel, E is used. t and E r1 Determine the target control parameters; for the lower control channel, use E. t and E r2 Determine the target control parameters.

[0098] In this embodiment, both the upper controlled execution unit and the lower controlled execution unit are controlled normal tuning quality modules. For the i-th controlled normal tuning quality module, its target control parameters include the target tuning frequency f. i Target damping ratio ζ i Target equivalent stiffness k i Equivalent damping c to the target i .

[0099] When E t +E ri When the energy value is greater than the preset minimum value, the target tuning frequency fi of the i-th controlled normal tuning quality module is determined according to the following relationship:

[0100] f i =(E t f t +E ri f r ) / (E t +E ri ).

[0101] Therefore, when the proportion of response energy corresponding to the normal translational vibration at the i-th action position is relatively large, the target tuning frequency fi Approaching the normal translational characteristic frequency f t When the response energy caused by pitch vibration accounts for a large proportion at the point of application, the target tuning frequency f i Approaching pitch characteristic frequency f r Due to the upper action position A u and the lower part of the working position A l E at the location r1 and E r2 The target tuning frequencies calculated by the upper and lower control channels may differ, thus achieving differentiated coordinated adjustment between the two control channels.

[0102] The target damping ratio ζ of the i-th controlled normal tuned mass module is determined according to the following relationship: i :

[0103] ζ i =ζ min +(ζ max -ζ min (E) t +E ri ) / (E t +E ri +E0).

[0104] Where, ζ min and ζ max These are the preset minimum damping ratio and maximum damping ratio, respectively, and E0 is the preset response energy reference value.

[0105] Therefore, when the response energy at the i-th action position is relatively small, the target damping ratio ζ i Approaching ζ min This ensures the controlled normal tuning mass module maintains high tuning sensitivity; when the response energy is large, the target damping ratio ζ i Approaching ζ max This enhances the ability to dissipate energy.

[0106] ζ min For example, taking values ​​from 0.02 to 0.08, ζ max For example, a value of 0.15 to 0.35 can be used, and E0 is preset based on the typical response energy level calibrated on-site.

[0107] The target equivalent stiffness k of the i-th controlled normal tuned mass module is determined according to the following relationship. i :

[0108] k i =m i (2πf i ) 2 .

[0109] The target equivalent damping c of the i-th controlled normal tuned mass module is determined according to the following relationship. i :

[0110] c i =2ζ i (k i m i ) 1 / 2 .

[0111] Where, m i Let m be the mass of the tuning mass block 31 in the i-th controlled normal tuning mass module. i The value is determined by taking 0.5% to 5% of the overall mass and considering the tuning effect within the load variation range of the bearing unit 2.

[0112] When E t +E ri When the value is not greater than the preset minimum energy value, it indicates that the vibration response at the i-th action position is at a low level. The target tuning frequency, target damping ratio, target equivalent stiffness, and target equivalent damping of the i-th controlled normal tuning mass module are maintained to avoid unnecessary parameter adjustments caused by random fluctuations in index calculations under low response conditions.

[0113] In actual control, the calculated target equivalent stiffness k can also be adjusted based on the equivalent stiffness range and equivalent damping range achievable by the controlled normal tuned mass module. i Equivalent damping c to the target i Amplitude limiting is applied, and the parameter variation between adjacent control cycles is restricted to prevent the target control parameters from exceeding the adjustable range of the tuned actuator or from changing excessively between adjacent control cycles. The control cycle is, for example, set to 1 to 10 seconds, to coordinate with the analysis time window.

[0114] (viii) Structure and online adjustment of the controlled normal tuning mass module

[0115] Each of the controlled normal tuning mass modules includes a tuning mass block 31, an elastic element 32, a damper 33, and a tuning actuator that can move relative to the support unit 2 along the normal direction N, as well as a tuning actuator that operates in response to the control command.

[0116] like Figure 4As shown, in one specific embodiment of the controlled normal tuning mass module, the controlled normal tuning mass module includes a mounting frame 34 fixedly connected to the support unit 2. A guide component 35 extending along the normal direction N is provided on the mounting frame 34. The tuning mass block 31 is connected to the support unit 2 through the guide component 35. The guide component 35 is, for example, a combination of a normal guide rail pair and a slider, a guide rod and guide sleeve pair, or a linear rolling guide, so that the tuning mass block 31 can only reciprocate relative to the support unit 2 along the normal direction N, and the other translational and rotational degrees of freedom are constrained. The elastic element 32 is connected between the tuned mass block 31 and the mounting frame 34 along the normal direction N. For example, a helical compression spring, a disc spring assembly, or a leaf spring can be used. When using a helical compression spring, it can be arranged opposite each other at both ends of the tuned mass block 31 along the normal direction N, so that the tuned mass block 31 obtains elastic recovery on both sides of the equilibrium position. The damper 33 is connected in parallel with the elastic element 32 and is positioned between the tuned mass block 31 and the mounting frame 34 along the normal direction N. For example, a viscous damper, a magnetorheological damper, or an eddy current damping device can be used. The mass of the tuned mass block 31 is preset during the installation and commissioning phase by adding or removing counterweights and remains constant during operation. Correspondingly, online adjustment during operation focuses on adjusting the equivalent stiffness and equivalent damping.

[0117] The tuned actuator responds to control commands to achieve online adjustment of equivalent stiffness and / or equivalent damping.

[0118] The online adjustment of equivalent stiffness can include one or more of the following: First, at least one end of the elastic element 32 is connected to the mounting frame 34 or the tuning mass block 31 via an adjustable spring seat 36. The adjustable spring seat 36 is movably mounted on a slide or guide seat in the normal direction N. The tuning actuator includes a first actuator that is drivenly connected to the adjustable spring seat 36. The first actuator is, for example, a combination of an electric push rod, a servo motor and a lead screw and nut pair, or a linear actuator with position feedback. By driving the adjustable spring seat 36 to move in the normal direction N, the effective working length or effective number of working revolutions of the elastic element 32 is changed, thereby continuously or incrementally changing the equivalent stiffness; Second, the elastic element 32 The system includes multiple spring units arranged in parallel. The tuning actuator includes a controlled engagement mechanism, such as an electrically controlled locking pin, an electromagnetic clutch structure, or a controlled clamping mechanism. By engaging or disengaging some spring units, the number of elastic elements 32 involved in the operation is changed, thereby achieving graded adjustment of the equivalent stiffness. Thirdly, when a leaf spring is used as the elastic element 32, the support seat of the leaf spring is set as a movable support seat. The tuning actuator drives the movable support seat to move along the length of the leaf spring to change the effective support span of the leaf spring. Fourthly, a gas spring is added to the elastic element 32. The tuning actuator includes an electrically controlled proportional valve or an electrically controlled air source connected to the gas spring. The additional stiffness is changed by adjusting the working air pressure of the gas spring.

[0119] Online adjustment of equivalent damping can be achieved through one or more of the following methods: First, when using a viscous damper with a needle valve throttling structure, the tuning actuator includes a second actuator connected to the needle valve drive, such as a stepper motor or an electric actuator with angle feedback, which drives the needle valve to change the throttling opening, thereby achieving continuous adjustment of the equivalent damping; Second, when using a magnetorheological damper, the tuning actuator includes a controlled excitation circuit, which changes the apparent viscosity of the magnetorheological fluid by adjusting the excitation current, thereby changing the equivalent damping; Third, when using an eddy current damping device, the tuning actuator includes an actuator that drives the conductor component or magnet component to move, which changes the strength of the eddy current damping by adjusting the relative position of the conductor and the magnetic field, such as adjusting the gap or effective overlap area between them.

[0120] To ensure that the online adjustment results match the target control parameters, a pre-calibrated relationship can be established between the actuator's action quantity and its equivalent stiffness and equivalent damping. For example, a mapping relationship can be established between the position of the adjustable spring seat 36 and its equivalent stiffness, or between the needle valve opening or excitation current and its equivalent damping. This mapping relationship can be stored in advance as a mapping table or a fitted formula. Position feedback elements or current feedback elements can be installed on the tuned actuator to perform closed-loop control of the actuator's actual operating state, ensuring that the actual achieved equivalent stiffness and equivalent damping follow the target control parameters. When the control command is given at the target tuning frequency f, the mass m of the tuning mass block 31 can be used, according to k=(2πf). 2 The target equivalent stiffness k is obtained by converting m; when the control command is given in the form of target damping ratio ζ, the target equivalent stiffness k and the mass m of the tuned mass block 31 can be calculated according to c=2ζ·(k·m). 1 / 2 The target equivalent damping c is calculated.

[0121] Considering that the bearing unit 2 operates in an outdoor environment with large inclination angles and long strokes, the controlled normal tuning mass module can also be equipped with auxiliary safety structures: limiting blocks 37 and buffer pads 38 are provided at both ends of the guide component 35 along the normal direction N to limit the extreme stroke of the tuning mass block 31 and mitigate impacts under extreme conditions; anti-detachment steel wire ropes and / or safety pins are provided between the tuning mass block 31 and the mounting frame 34 to form redundant constraints in the event of failure of the elastic element 32 or the guide component 35, preventing the tuning mass block 31 from falling off; a protective cover is provided outside the module, which can be a sealed structure with drainage holes and maintenance openings to adapt to on-site conditions such as dust and rain. The above-mentioned auxiliary safety structures do not participate in online adjustment and do not affect the operation of the tuning actuator.

[0122] like Figure 5As shown, in another specific embodiment of the controlled normal tuning mass module, the tuning mass block 31 can move relative to the support unit 2 not only along the normal direction N but also along the lateral direction. The lateral direction refers to the direction that is perpendicular to both the normal direction N and the oblique running direction S. Thus, the same tuning mass block 31 can respond to the normal vibration of the support unit 2 within the main working plane and the lateral vibration outside the main working plane, respectively. For example, the tuning mass block 31 is connected to the support unit 2 through a two-dimensional guide assembly. The two-dimensional guide assembly uses two layers of linear guides orthogonally stacked along the normal direction N and the lateral direction, so that the tuning mass block 31 forms a constrained linear motion path along the normal direction N and the lateral direction, respectively. Elastic elements 32 and dampers 33 are respectively provided in the normal direction N and the transverse direction. The elastic elements 32 and dampers 33 in each direction provide elastic recovery and energy dissipation in the corresponding direction. The equivalent stiffness and / or equivalent damping of the tuning mass 31 along the normal direction N are still adjusted online by the tuning actuator according to the target control parameters of the corresponding control channel in any of the aforementioned methods, in order to suppress the normal translational vibration and pitch vibration of the bearing unit 2. The degree of freedom of the tuning mass 31 along the transverse direction is used to attenuate the transverse vibration of the bearing unit 2 outside the main working plane. The stiffness and damping in the transverse direction can be preset according to the transverse vibration characteristics. For example, they can be adjusted once during the installation and commissioning stage by using the counterweight, spring seat position or damper 33 throttling opening, or they can be adjusted by a separately provided adjustment mechanism. The elastic elements 32 and dampers 33 in the normal direction N and the lateral direction are set independently, allowing the equivalent stiffness and equivalent damping in the two directions to be designed and adjusted separately. This helps reduce the impact of parameter adjustments in one direction on the vibration response in the other direction. The vibration control in the lateral direction does not participate in the calculation of the aforementioned normal translational response and pitch response, nor does it change the control relationship between the upper and lower control channels that determine the target control parameters based on the normal translational response index and pitch response index. Compared to setting separate normal and lateral tuned mass modules, this structure can utilize the same tuned mass block 31 to respond to vibrations in two mutually perpendicular directions. This helps reduce additional mass, installation components, and the installation space occupied, and improves the adaptability of the controlled normal tuned mass module to the spatial vibration of the bearing unit 2.

[0123] Figure 4 and Figure 5 The structure shown represents an optional implementation of the controlled normal tuning mass module, and this embodiment does not further limit its specific mechanical structure.

[0124] After determining the target control parameters for the upper and lower control channels, control commands are output to the upper and lower controlled execution units located on the upper and lower parts of the bearing unit 2, respectively, based on these parameters. The control commands may include one or more of the following: target equivalent stiffness, target equivalent damping, target tuning frequency, and target damping ratio. They may also include control quantities corresponding to the specific operating state of the tuning actuator, such as the target position of the adjustable spring seat 36, the number of spring units involved in operation, the target opening degree of the needle valve, the target excitation current of the magnetorheological damper, or the target relative position of the conductor and magnetic field in the eddy current damping device. The tuning actuator operates according to the control command of the corresponding control channel, and adjusts the equivalent stiffness and / or equivalent damping of the corresponding controlled normal tuning mass module online according to the aforementioned mapping relationship and feedback control. This causes the adjusted tuning mass block 31 to generate relative motion in the normal direction N under the vibration excitation of the bearing unit 2, which matches the target control parameters. The adjustment also forms a normal action on the bearing unit 2 through the elastic element 32 and the damper 33.

[0125] (ix) Combined Action Components and Differential Action Components

[0126] like Figure 3 As shown, the upper controlled execution unit is at the upper operating position A. u The upper normal force F is formed on the bearing unit 2. u (t), the lower controlled execution unit is at the lower operating position A. l The bearing unit 2 forms a lower normal force F. l (t). The action component formed by the superposition of the upper controlled execution unit and the lower controlled execution unit along the normal direction N is the common action component, and the action component formed by the difference between the action amounts of the upper controlled execution unit and the lower controlled execution unit along the normal direction N is the differential action component.

[0127] The combined components form a resultant normal force to suppress the normal translational vibration of the bearing unit 2, for example, F. N (t)=F u (t)+F l (t) characterization. The differential action component is combined with the upper action position A. u and the lower part of the working position A l A control torque is formed to suppress the pitch vibration of the bearing unit 2, that is, the differential action component is achieved by means of distance l. u and distance l l The control torque M is formed around the current position of the center of mass G. G (t), for example, with M G (t)=l u Fu (t)-l l F l (t) characterization.

[0128] When normal translational vibration dominates, the target control parameters of the upper and lower control channels cause the target tuning frequencies of the two controlled normal tuning mass modules to approach the normal translational characteristic frequency f. t In the two normal forces, the same or similar components dominate, forming a common action component that matches the normal translational vibration. When the pitch vibration dominates, the target control parameters of the two control channels match the action state of the two controlled normal tuning mass modules with the equivalent normal response caused by the pitch vibration at their respective action positions, forming a differential action component between the two normal forces, and using distance l as a means... u and distance l l A control torque is formed to suppress pitch vibration. When normal translational vibration and pitch vibration exist simultaneously, the normal action formed by the two controlled normal tuning mass modules includes both common action components and differential action components, so as to take into account the control of normal translational vibration and pitch vibration of the bearing unit 2.

[0129] (x) Comprehensive response indicators and cyclic control

[0130] After each adjustment of the equivalent stiffness and / or equivalent damping of the upper controlled execution unit and the lower controlled execution unit, the upper normal acceleration response a is continuously acquired. u (t) and the lower normal acceleration response a l (t), re-solve the translational acceleration response a t (t) and pitch angle acceleration response α(t), and redetermine the normal translational frequency band response energy index E. t Upper position of action A u The corresponding equivalent pitch frequency band response energy index E r1 and the lower position of action A l The corresponding equivalent pitch frequency band response energy index E r2 .

[0131] The comprehensive response index J is determined according to the following relationship:

[0132] J=w t E t +w r1 E r1 +w r2 E r2 .

[0133] Among them, w t w is the preset weight corresponding to the normal translational frequency band response energy index. r1 and w r2These are preset weights for the equivalent pitch frequency band response energy indices corresponding to the upper and lower action positions, respectively. Each preset weight is pre-set based on the relative importance of the influence of normal translational vibration and pitch vibration on the stress state of the guide constraint part. For example, when the influence of pitch vibration on the alternating load of the guide constraint part is more prominent, w can be... r1 and w r2 Set to greater than w t .

[0134] When the redefined comprehensive response index J is less than the preset response index threshold, it indicates that the comprehensive response of the bearing unit 2 in the current normal translational vibration and pitch vibration is within the preset range. The current target control parameters of the upper control channel and the lower control channel are maintained to avoid frequent parameter adjustments. When the redefined comprehensive response index J is not less than the preset response index threshold, the redefined normal translational frequency band response energy index E is used. t And respectively correspond to the upper action position A u and the lower part of the working position A l Equivalent pitch band response energy index E r1 E r2 The target control parameters of the upper control channel and the lower control channel are updated according to the aforementioned relationship, and control commands are output to the upper controlled execution unit and the lower controlled execution unit again.

[0135] (xi) Computer simulation verification

[0136] To verify the control effect of the pose decoupling measurement and control method of the present invention on the normal translational vibration and pitch vibration of the bearing unit 2, a dynamic equation model of the whole consisting of the bearing unit 2 and the load borne by the bearing unit 2 in the main working plane was established using a Python numerical calculation program, and the dynamic response under the pre-control and post-control conditions was solved using the numerical integration function of ordinary differential equations in SciPy.

[0137] In this computer simulation, the entire assembly consisting of the bearing unit 2 and the load it bears has a normal translational degree of freedom along the normal direction N and a pitching degree of freedom about an axis perpendicular to the main working plane. The upper and lower controlled execution units each have additional degrees of freedom, thus forming a four-degree-of-freedom coupled dynamic model. Let the translational displacement of the entire assembly along the normal direction N be y, and the pitching angle be θ. Let the displacements of the tuned mass block 31 in the upper and lower controlled execution units along the normal direction N be x and x, respectively. u and x lThe angle between the oblique running direction S and the horizontal plane is 58°. The movable stroke of the bearing unit 2 in the oblique running direction S is set at 90m. The unloaded mass of the bearing unit 2 is 2200kg, the mass of the load it bears is 800kg, the overall mass M is 3000kg, and the equivalent moment of inertia of the whole about the axis perpendicular to the main working plane is 4200kg·m. 2 The current centroid position G is located at the upper part of the oblique running direction S, where position M is obtained. u Get position M from the bottom l Between, and located in the upper functional position A u Position A of action with the lower part l Between; where the upper part obtains position M u The distance d between the current centroid position G and the current centroid position G u Take 1.80m, and obtain position M from the lower part. l The distance d1 between the current centroid position G and the current centroid position G is taken as 1.60m, and the upper action position A is... u Distance l between the current centroid position G and the current centroid position G u Take 1.70m, lower action position A l Distance l between the current centroid position G and the current centroid position G l Take 1.50m.

[0138] According to the normal translational characteristic frequency f t Determine the normal translational equivalent stiffness K of the main structure for 1.18Hz. t And according to the pitch characteristic frequency f r Determine the pitch equivalent stiffness K of the main structure for 0.83Hz. r Among them, K t =M(2πf t ) 2 K r =J(2πf r ) 2 The normal translational damping ratio is taken as 0.030, and the pitch damping ratio is taken as 0.035. Based on these, the equivalent normal translational damping C is determined. t And pitch equivalent damping C r Accordingly, K in this simulation t Approximately 1.65 × 10 5 N / m, K r Approximately 1.14 × 10 5 N·m / rad, C t Approximately 1.33 × 10 3 N·s / m, C r Approximately 1.53 × 10 3 N·m·s / rad.

[0139] It should be noted that the above-mentioned normal translational equivalent stiffness K t Pitch equivalent stiffness K r Normal translational equivalent damping C t And pitch equivalent damping C r These are all equivalent dynamic parameters of the main structure used in the computer simulation, used to characterize the elastic recovery and energy dissipation of the whole structure consisting of bearing unit 2 and the load it bears in the normal translational and pitch degrees of freedom. They are equivalent parameters in the structural dynamics model used to characterize the vibration characteristics of the main foundation. Specifically, the normal translational equivalent stiffness characterizes the equivalent restoring force generated by the main structure and its guiding constraints when the whole structure undergoes a unit normal translational displacement; the pitch equivalent stiffness characterizes the equivalent restoring moment generated by the main structure and its guiding constraints when the whole structure undergoes a unit pitch angle displacement; the normal translational equivalent damping characterizes the equivalent damping energy dissipation when the whole structure undergoes normal translation; and the pitch equivalent damping characterizes the equivalent damping energy dissipation when the whole structure undergoes pitch motion. Based on the normal translational characteristic frequency f... t Pitch characteristic frequency f r The calculation of the above parameters, along with the corresponding damping ratio, is to ensure that the established main dynamic model possesses fundamental vibration characteristics corresponding to the preset characteristic frequency and response attenuation characteristics in the normal translational and pitch directions, respectively. These parameters remain unchanged as fundamental parameters of the main structure in both the pre-control and post-control operating conditions, unlike the target equivalent stiffness k of each controlled normal tuned mass module mentioned above. i Equivalent damping c to the target i The target equivalent stiffness k i Equivalent damping c to the target i It is used to characterize the elastic connection state and damped connection state between the tuned mass block 31 and the bearing unit 2, and serves as the target control parameter that can be adjusted according to the vibration response by the upper control channel and the lower control channel.

[0140] Both the upper and lower controlled execution units employ controlled normal-direction tuned mass modules, with each tuned mass block 31 in the module weighing 90 kg. Under pre-control conditions, neither the upper nor lower controlled execution units are operational and do not provide additional control to the main structure. Under post-control conditions, the normalized normal translational frequency band response energy index E is used. t The value is 1.00, and the upper active position is A. u The corresponding equivalent pitch frequency band response energy index E r1 The value is 0.50, and the lower active position is A. l The corresponding equivalent pitch frequency band response energy index E r2The value is 1.80, and calculations are performed according to the aforementioned target control parameter relationships. Therefore, the target tuning frequency of the upper control channel is 1.063Hz, the target damping ratio is 0.171, and the target equivalent stiffness is 4.02 × 10⁻⁶. 3 N / m, target equivalent damping is 2.06×10 2 N·s / m; the target tuning frequency of the lower control channel is 0.955Hz, the target damping ratio is 0.189, and the target equivalent stiffness is 3.24×10⁻⁶. 3 N / m, target equivalent damping is 2.04×10 2 N·s / m.

[0141] In this computer simulation, the normal translational and pitching motions of the entire system consisting of the bearing unit 2 and the load it bears, as well as the motions of the tuned mass blocks 31 in the upper and lower controlled execution units along the normal direction N, are incorporated into the dynamic model. Based on the force balance relationship of the entire system along the normal direction N, the torque balance relationship around the current center of mass G, and the motion balance relationship of the two tuned mass blocks 31, a four-degree-of-freedom coupled dynamic equation system is established. Specifically, the upper and lower controlled execution units exert normal forces on the bearing unit 2 through their respective equivalent stiffness and equivalent damping. Combined with the positional relationship between the upper and lower action positions relative to the current center of mass G, they generate coupled control over the normal translational and pitching motions of the bearing unit 2.

[0142] During the simulation, both the normal external excitation and the external disturbance torque consist of a primary frequency component, secondary frequency components, low-frequency amplitude modulation components, transient disturbance components, and colored random noise, to simulate the composite dynamic response of the bearing unit 2 during operation, start-up, braking, and external disturbances. The primary frequency component of the normal external excitation is set to 90 N, corresponding to the normal translational characteristic frequency f. t The main frequency component of the external disturbance torque is taken as 12 N·m, corresponding to the pitch characteristic frequency f. r .

[0143] The dynamic equations are solved using a fourth- to fifth-order Runge-Kutta adaptive integral method, with a single simulation duration of 120 seconds and an output sampling frequency of 100 Hz. After obtaining the displacement and velocity responses under the pre-control and post-control conditions, the normal translational acceleration response 'a' is calculated based on the dynamic equations. t (t) and pitch acceleration response α(t). Simultaneously, the upper normal acceleration response and lower normal acceleration response are generated, and α is recalculated according to the aforementioned pose decoupling relationship. tα(t) and α(t) are used to verify the pose decoupling relationship. In the frequency domain analysis, the average value of the time domain response is first removed, then a Hanning window is applied, and the power spectral density is calculated using a fast Fourier transform.

[0144] Depend on Figure 8 and Figure 9 It can be seen that the normal translational acceleration response a under the controlled operating condition t The oscillation amplitudes of both pitch angle acceleration response α(t) and pitch angle acceleration response α(t) are significantly reduced. During the 120s simulation period, the normal translational acceleration response α(t)... t The root mean square value of (t) increased from approximately 0.348 m / s before control. 2 Reduced to approximately 0.123 m / s after control. 2 The absolute peak value decreased by approximately 64.7%; its absolute peak value decreased from approximately 0.588 m / s. 2 Reduced to approximately 0.237 m / s 2 The root mean square value of the pitch angle acceleration response α(t) decreased by approximately 59.7% from approximately 0.0277 rad / s before control. 2 Reduced to approximately 0.0116 rad / s after control. 2 It decreased by approximately 58.0%; its absolute peak value decreased from approximately 0.0439 rad / s 2 Reduced to approximately 0.0272 rad / s 2 This represents a decrease of approximately 38.0%. Figure 10 and Figure 11 It can be seen that, under the controlled operating conditions, the normal translational characteristic frequency f t Nearby and pitch characteristic frequency f r The power spectral density peaks in the vicinity all decreased significantly, among which, f t The power spectral density in the vicinity decreased by approximately 88.1%, f r The power spectral density in the vicinity decreased by approximately 94.3%.

[0145] The above computer simulation results show that, by solving the normal translational and pitch responses based on the upper normal motion response, lower normal motion response, and measurement point position parameters, and by determining the target control parameters of the upper and lower control channels based on the normal translational response index, upper pitch response index, lower pitch response index, and action position parameters, the upper and lower controlled execution units can coordinately control the normal translational and pitch vibrations of the bearing unit 2, thereby simultaneously reducing the normal translational and pitch responses of the bearing unit 2.

[0146] Example 2: A device for decoupling the position and orientation of an obliquely running bearing unit 2 is provided. The device is used to execute the position and orientation decoupling measurement and control method described in Example 1.

[0147] like Figure 7 As shown, the pose decoupling measurement and control device includes a processor 41, a memory 42, a sensor data interface 43, and an execution control interface 44. The processor 41 is connected to the memory 42, the sensor data interface 43, and the execution control interface 44, respectively, and is used to acquire sensor data through the sensor data interface 43, perform pose response decoupling and target control parameter calculation, and output control commands through the execution control interface 44.

[0148] The sensing data interface 43 includes an upper input channel and a lower input channel. The upper input channel is used to receive the upper normal motion response of the upper part of the support unit 2, and the lower input channel is used to receive the lower normal motion response of the lower part of the support unit 2. In this embodiment, the upper input channel and the lower input channel are located at the upper acquisition position M. u The upper inertial sensor is connected to receive the upper normal acceleration response a. u (t); Lower input channel and set at lower acquisition position M l The lower inertial sensor is connected to receive the lower normal acceleration response a. l (t). The upper input channel and the lower input channel respectively receive sensor data with a unified sampling clock or time stamp, so that the processor 41 can process the two normal acceleration responses at the same sampling time.

[0149] The sensing data interface 43 may further include a load data input channel, which is used to receive the support force acquired by load sensors located at multiple load support positions. The load data input channel may include multiple input sub-channels corresponding to multiple load sensors, and may also receive support force data with load support position identifiers via fieldbus or other communication links.

[0150] Figure 7 This mainly illustrates the internal composition and signal connection relationships of the pose decoupling measurement and control device. The upper inertial sensor, lower inertial sensor, and various load sensors can be located outside the device and connected to the device through the sensor data interface 43; alternatively, the corresponding sensors and their signal conditioning circuits can be integrated into the device.

[0151] The execution control interface 44 includes an upper output channel and a lower output channel. The upper output channel is used to output control commands to the upper controlled execution unit located on the upper part of the support unit 2, and the lower output channel is used to output control commands to the lower controlled execution unit located on the lower part of the support unit 2. When both the upper and lower controlled execution units are controlled normal tuned mass modules, the upper and lower output channels are respectively connected to the tuning execution mechanism of the corresponding controlled normal tuned mass module. The tuning execution mechanism adjusts the equivalent stiffness and / or equivalent damping of the corresponding controlled normal tuned mass module online according to the corresponding control commands.

[0152] The control command may directly include one or more of the following: target equivalent stiffness, target equivalent damping, target tuning frequency, and target damping ratio. It may also include an execution control quantity converted from the target control parameters. The execution control quantity may be the target position, target stroke, target gear, target drive current, or other control quantities that enable the controlled normal tuning mass module to achieve the corresponding target control parameters.

[0153] The memory 42 stores a computer program. The memory 42 may also store the unloaded mass m0, the unloaded center of gravity G0, the position coordinates of each load support position, and the upper acquisition position M of the bearing unit 2. u and the lower part obtain position M l Position coordinates, upper action position A u and the lower part of the working position A l The location coordinates, as well as the preset minimum energy value, response energy reference value E0, and minimum damping ratio ζ. min Maximum damping ratio ζ max The mass m of each tuning mass block 31 i Preset weight w t w r1 w r2 And preset response indicator thresholds.

[0154] When the computer program is executed by the processor 41, the processor 41 acquires sensor data through the sensor data interface 43, outputs control commands through the execution control interface 44, and executes the pose decoupling measurement and control method described in Embodiment 1. Specifically: the processor 41 acquires the upper normal motion response and the lower normal motion response through the upper input channel and the lower input channel, respectively; when a load data input channel is provided, the processor 41 also acquires the support force of multiple load support positions when the bearing unit 2 is in a stationary state through the load data input channel; the processor 41 determines the mass m of the load being borne based on the support force of each load support position and the coordinates of the corresponding load support position. L and the position of the center of mass of the load GL Combined with the pre-stored unloaded mass m0 and unloaded centroid position G0, the processor 41 determines the current centroid position G; based on the current centroid position G and the position coordinates of each acquisition position and each action position, the processor 41 determines or updates the measuring point position parameter d. u d l and the position parameter l u l l Processor 41 responds to the upper normal acceleration a u (t), Lower normal acceleration response a l (t) and measuring point location parameter d u d l According to the relational solution algorithm described in Example 1, the translational acceleration response a t The pitch angle acceleration response α(t) and pitch angle acceleration response α(t) are used to form the pose response decoupled measurement results; the processor 41 respectively processes α(t) and α(t) to form the pose response decoupled measurement results. t Frequency domain analysis of α(t) and α(t) is performed to determine the normal translational characteristic frequency f. t and pitch characteristic frequency f r And determine the normal translational frequency band response energy index E t and the equivalent pitch frequency band response energy index E r1 and E r2 Processor 41 according to E t E r1 E r2 and the position parameter l u l l The target control parameters of the upper control channel and the lower control channel are calculated according to the relationship described in Embodiment 1. The processor 41 outputs control commands to the upper controlled execution unit through the upper output channel according to the target control parameters of the upper control channel, and outputs control commands to the lower controlled execution unit through the lower output channel according to the target control parameters of the lower control channel, so as to adjust the equivalent stiffness and / or equivalent damping of the upper controlled execution unit and the lower controlled execution unit online respectively.

[0155] After the upper and lower controlled execution units complete this adjustment, the processor 41 continues to acquire new upper normal motion responses and lower normal motion responses through the upper and lower input channels, and re-determines E. t E r1 E r2The processor 41 maintains the current target control parameters of the upper and lower control channels when the redefined comprehensive response index J is less than the preset response index threshold. When the redefined comprehensive response index J is not less than the preset response index threshold, the processor 41 updates the target control parameters of the upper and lower control channels according to the redefined response index and outputs the corresponding control command again through the execution control interface 44. Thus, the processor 41, through the sensor data interface 43 and the execution control interface 44, cyclically executes the following processes: normal motion response acquisition, current centroid position determination, position parameter update, pose response decoupling, response index determination, target control parameter calculation, control command output, and comprehensive response evaluation.

[0156] The processor 41 may be a central processing unit, microcontroller, digital signal processor, industrial controller, programmable logic controller, or other processing device capable of executing the computer program. The memory 42 may include non-volatile memory and runtime memory. The non-volatile memory is used to store the computer program and preset parameters, and the runtime memory 42 is used to store intermediate data and processing results generated by the processor 41 during the execution of the computer program.

[0157] The sensor data interface 43 can be an analog acquisition interface, a digital interface, a fieldbus interface, an industrial Ethernet interface, or a wireless communication interface. The execution control interface 44 can be an analog output interface, a digital output interface, a fieldbus interface, or other interfaces capable of transmitting control commands to the tuned actuator. The upper input channel and the lower input channel can each use independent physical acquisition channels, or they can transmit corresponding motion responses on the same communication link through data frames with channel identifiers; similarly, the upper output channel and the lower output channel can also use independent physical output channels, or they can transmit corresponding control commands on the same communication link through control data frames with actuator identifiers.

[0158] In one embodiment, the pose decoupling measurement and control device is disposed on the support unit 2 and moves along the oblique running direction S with the support unit 2. In another embodiment, the pose decoupling measurement and control device is disposed outside the support unit 2, receives data output by sensors disposed on the support unit 2 via wired or wireless communication links, and sends control commands to the upper and lower controlled execution units disposed on the support unit 2.

[0159] When the data received by the upper or lower input channel is interrupted, exceeds the preset valid range, or the two data channels cannot maintain time synchronization, the processor 41 can pause the update of the target control parameters of the upper and lower control channels and retain the most recently validly determined target control parameters. When load data is temporarily unavailable, the processor 41 can retain the most recently validly determined current centroid position G until valid load state data is obtained again. When the calculated target equivalent stiffness or target equivalent damping exceeds the adjustable range of the corresponding controlled execution unit, the processor 41 can limit the target control parameters to the preset adjustable range, and then output control commands according to the limited target control parameters to prevent the tuned execution mechanism from exceeding its execution range.

[0160] The above embodiments use the inclined running bearing unit 2 during the construction of a single-tower cable-stayed bridge tower as a specific application object to illustrate the posture decoupling measurement and control method and equipment of the present invention. The present invention is not limited to the specific application scenario described above. It can be used in any inclined running scenario with a large inclination angle and long stroke where the angle between the inclined running direction and the horizontal plane is 45° to 75°, the movable stroke of the bearing unit 2 in the inclined running direction is not less than 50m, or in bearing units 2 running along other inclined running paths that require decoupling measurement and coordinated control of the normal translational response and pitch response.

[0161] This invention is not limited to the specific mechanical formation of the oblique running path, the specific shape and bearing purpose of the bearing unit 2, the specific types of inertial sensors and load sensors, or the specific mechanical structure of the upper and lower controlled execution units. While maintaining the technical relationships of acquiring the upper and lower normal motion responses, decoupling the pose response based on the current center of mass position, and adjusting the upper and lower control channels online according to the upper and lower action positions, other equivalent implementation methods can be adopted according to actual application conditions.

[0162] The above description is merely a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Equivalent substitutions, adjustments, or combinations made by those skilled in the art to the above specific embodiments without departing from the concept of the present invention should all fall within the scope of protection of the present invention.

Claims

1. A method for decoupling the position and orientation measurement and control of an obliquely moving bearing unit, characterized in that: include: The upper normal motion response of the upper part of the bearing unit in the normal direction and the lower normal motion response of the lower part of the bearing unit in the normal direction are obtained; wherein, the bearing unit runs along the oblique running direction, and the normal direction refers to the direction located in the main working plane containing the oblique running direction and perpendicular to the oblique running direction; Based on the upper normal motion response, the lower normal motion response, and the measurement point position parameters of the acquisition positions of the upper and lower normal motion responses relative to the current center of mass position of the entire system consisting of the bearing unit and the load borne by the bearing unit, the normal translational response and pitch response of the bearing unit are calculated. The normal translational response and pitch response constitute the decoupled measurement results of the bearing unit's pose response in the main working plane. The normal translational response index is determined based on the normal translational response amount, and the upper pitch response index and the lower pitch response index are determined based on the pitch response amount and the action position parameters of the upper and lower action positions of the upper and lower controlled execution units relative to the current center of mass position. Based on the normal translational response index, the upper pitch response index, the lower pitch response index, and the action position parameters, the target control parameters of the upper control channel and the lower control channel are calculated respectively. The target control parameters include the target equivalent stiffness and / or the target equivalent damping. Based on the target control parameters of the upper control channel and the lower control channel, control commands are output to the upper controlled execution unit and the lower controlled execution unit located at the upper and lower parts of the bearing unit, respectively, so as to adjust the equivalent stiffness and / or equivalent damping of the upper controlled execution unit and the lower controlled execution unit online; The common action component is formed by the superposition of the upper controlled execution unit and the lower controlled execution unit along the normal direction. The action component formed by the difference between the action amounts of the upper controlled execution unit and the lower controlled execution unit along the normal direction is the differential action component. The upper controlled execution unit and the lower controlled execution unit are adjusted online by the control command so that the common action component forms a normal resultant force to suppress the normal translational vibration of the bearing unit, and the differential action component, combined with the upper action position and the lower action position, forms a control torque to suppress the pitch vibration of the bearing unit. Both the upper controlled execution unit and the lower controlled execution unit are controlled normal tuned mass modules. Each controlled normal tuned mass module includes a tuned mass block, an elastic element, a damper, and a tuning execution mechanism that can move relative to the bearing unit along the normal direction, as well as a tuning execution mechanism that operates in response to the control command. The online adjustment of the equivalent stiffness and / or equivalent damping of the upper controlled execution unit and the lower controlled execution unit includes: adjusting the equivalent stiffness and / or equivalent damping of the corresponding controlled normal tuned mass module online via the tuning execution mechanism according to the target control parameters of the corresponding control channel, so that the adjusted tuned mass block generates a relative motion in the normal direction that matches the target control parameters under the vibration excitation of the bearing unit, so as to suppress the normal translational vibration and pitch vibration of the bearing unit; The upper and lower action positions are spaced apart along the oblique running direction. The current center of mass position is located between the upper and lower action positions along the oblique running direction. The distance between the upper action position and the current center of mass position along the oblique running direction is l. u The distance between the lower operating position and the current centroid position along the oblique running direction is l. l ; The calculation of target control parameters for the upper and lower control channels includes: determining translational control components based on the normal translational response index; determining pitch control components based on the upper and lower pitch response indexes; and determining pitch control components based on the translational control components, the pitch control components, and the range l. u and distance l l The target control parameters for the upper control channel and the lower control channel are determined respectively, so that the common action component forms a normal resultant force to suppress the normal translational vibration, and the differential action component is facilitated by the distance l. u and the distance l l A control torque is generated to suppress the pitch vibration; The upper normal motion response and the lower normal motion response are respectively the upper normal acceleration response a. u (t) and lower normal acceleration response a l (t), the current centroid position is located in the upper normal acceleration response a in the oblique running direction. u The location of (t) and the lower normal acceleration response a l The positions between (t) are obtained; The upper normal acceleration response a u The distance d between the location where (t) is obtained and the current centroid location along the oblique running direction is... u The lower normal acceleration response a l The distance d between the location where (t) is obtained and the current centroid location along the oblique running direction is... l ; The normal translational acceleration response a, which characterizes the normal translational response, is determined according to the following relationship. t (t): a t (t)=[d l a u (t)+d u a l (t)] / (d u +d l ); The pitch angular acceleration response α(t), which characterizes the pitch response, is determined according to the following relationship: α(t) = [a u (t)−a l (t)] / (d u +d l ); The response quantity a of the normal translational acceleration is respectively t Frequency domain analysis was performed on the pitch angle acceleration response α(t) and the pitch angle acceleration response α(t) to determine the normal translational characteristic frequency f corresponding to the normal translational vibration. t The pitch characteristic frequency f corresponding to the pitch vibration r ; Determine the normal translational acceleration response a t (t) at the normal translational characteristic frequency f t Nearby normal translational frequency band response energy index E t ; For the i-th controlled execution unit, the signed position parameter l of the controlled execution unit's position relative to the current centroid position along the oblique running direction is used. i The equivalent normal acceleration response a caused by pitch vibration at the location of action is determined according to the following relationship: ri (t): a ri (t)=l i α(t); According to the equivalent normal acceleration response a ri (t), determine its value at the pitch characteristic frequency f r Nearby equivalent pitch frequency band response energy index E ri ; According to the normal translational characteristic frequency f t The pitch characteristic frequency f r The normal translational frequency band response energy index E t and the equivalent pitch frequency band response energy index E ri Determine the target control parameters for the i-th controlled execution unit; Where i is 1 or 2, the current centroid position is taken as the origin, and the direction pointing from the oblique running direction to the upper action position is taken as the positive direction. The first controlled execution unit is the upper controlled execution unit, the second controlled execution unit is the lower controlled execution unit, and l1=l u l2=-l l ; The i-th controlled execution unit is a controlled normal tuning quality module, and the target control parameters include the target tuning frequency f. i Target damping ratio ζ i Target equivalent stiffness k i Equivalent damping c to the target i ; When E t +E ri When the energy value is greater than the preset minimum energy value, the target tuning frequency f is determined according to the following relationship. i The target damping ratio ζ i The target equivalent stiffness k i and the target equivalent damping c i : f i =(E t f t +E ri f r ) / (E t +E ri ); g i =ζ min +(g max −ζ min )(E t +E ri ) / (E t +E ri +E0); k i =m i (2πf i ) 2 ; c i =2ζ i (k i m i ) 1 / 2 ; Where, m i Let ζ be the mass of the tuning mass block in the i-th controlled normal tuning mass module. min and ζ max These are the preset minimum damping ratio and maximum damping ratio, respectively, and E0 is the preset response energy reference value; When E t +E ri When the energy value is not greater than the preset minimum energy value, the target tuning frequency, target damping ratio, target equivalent stiffness, and target equivalent damping of the i-th controlled normal tuning mass module are maintained.

2. The pose decoupling measurement and control method as described in claim 1, characterized in that: Before calculating the normal translational and pitch responses of the bearing unit, the current centroid position is first determined. Determining the current centroid position includes: By using load sensors installed at multiple load support positions of the bearing unit, the supporting force generated by the load borne by the bearing unit at each load support position is obtained when the bearing unit is in a static state; Based on the supporting force and coordinates of each load support position, the mass and center of gravity of the load borne by the bearing unit are determined. Combined with the pre-stored unloaded mass and unloaded center of gravity of the bearing unit, the current center of gravity position is determined. The current center of gravity position includes at least the position of the center of gravity of the whole in the oblique running direction. After the bearing unit stops running and the load it bears changes, the current center of gravity position is re-determined. After determining the current centroid position, based on the current centroid position, determine the measurement point position parameters of the acquisition positions of the upper normal motion response and the lower normal motion response relative to the current centroid position, as well as the action position parameters of the upper action position and the lower action position relative to the current centroid position; Based on the determined measurement point position parameters, the normal translational response and the pitch response are calculated according to the upper normal motion response and the lower normal motion response. The normal translational response index is determined according to the normal translational response. The pitch response index corresponding to the upper action position and the lower action position is determined according to the pitch response and the determined action position parameters. The target control parameters of the upper control channel and the lower control channel are determined according to the normal translational response index, the pitch response index and the determined action position parameters.

3. The pose decoupling measurement and control method as described in claim 1, characterized in that: The comprehensive response index J is determined according to the following relationship: J = w t E t +w r1 E r1 +w r2 E r2 ; Among them, w t w is the preset weight corresponding to the normal translational frequency band response energy index. r1 and w r2 E represents the preset weights of the equivalent pitch frequency band response energy index corresponding to the upper and lower action positions, respectively. r1 and E r2 These are the equivalent pitch frequency band response energy indices corresponding to the upper and lower action positions, respectively. After each adjustment of the equivalent stiffness and / or equivalent damping of the upper controlled execution unit and the lower controlled execution unit, the comprehensive response index J is redefined. When the redefined comprehensive response index J is less than the preset response index threshold, the current target control parameters of the upper control channel and the lower control channel are maintained. When the redefined comprehensive response index J is not less than the preset response index threshold, the target control parameters of the upper control channel and the lower control channel are updated according to the redefined normal translational frequency band response energy index and the equivalent pitch frequency band response energy index corresponding to the upper action position and the lower action position, respectively.

4. The pose decoupling measurement and control method as described in claim 1, characterized in that: The angle between the oblique running direction and the horizontal plane is 45° to 75°, and the movable stroke of the bearing unit in the oblique running direction is not less than 50m.

5. A device for decoupling the position and orientation measurement and control of an obliquely moving bearing unit, characterized in that: This includes a processor, memory, sensor data interface, and execution control interface; The sensing data interface includes an upper input channel for receiving the upper normal motion response of the upper part of the carrier unit, and a lower input channel for receiving the lower normal motion response of the lower part of the carrier unit. The execution control interface includes an upper output channel for outputting control commands to the upper controlled execution unit, and a lower output channel for outputting control commands to the lower controlled execution unit. The memory stores a computer program. When the computer program is executed by the processor, the processor acquires sensor data through the sensor data interface, outputs control instructions through the execution control interface, and executes the pose decoupling measurement and control method as described in claim 1.

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