A steel structure corridor synchronous sliding and integral lifting construction method

Abstract

The present application relates to a kind of steel structure veranda synchronous sliding and integral hoisting construction method, belong to building construction technical field, to solve the existing technology in the conversion of veranda from sliding rail to lifting rigging, support boundary stiffness mutation, traditional absolute displacement synchronous control is easy to cause internal force to resist and local stress concentration.The present application obtains the real-time load, stroke and strain data of each support point by cooperative control system, calculates the local stiffness variation characteristics to determine whether to enter the working condition conversion period;After entering the conversion period, according to the local strain data and the prior flexibility matrix of preloading to generate asymmetric displacement instruction, drive each support point to execute asymmetric displacement adjustment to release local stress;After restoring steady state, with the lowest point of elevation as reference to execute pose alignment and switch to elevation synchronous control mode to complete integral hoisting.The present application can effectively alleviate the stress concentration problem of veranda structure in working condition conversion period, improve construction safety and reliability.

Description

Technical Field

[0001] This invention belongs to the field of building construction technology, specifically relating to a construction method for synchronous sliding and overall lifting of steel structure corridors. Background Technology

[0002] In the construction of large and complex buildings, long-span steel structure corridors are typically assembled on the ground or at a low position, slid into place via rails, and then lifted as a whole. To ensure the stability of the corridor during movement, existing multi-point hydraulic control systems generally adopt a strict synchronous control strategy based on absolute displacement closed loop, that is, the control algorithm forces all hydraulic actuators to maintain the same elevation or stroke.

[0003] In a single sliding or lifting phase, this strict displacement synchronization control can meet basic construction requirements. However, during the transition from the sliding track to the lifting steel strands, the supporting boundary medium of the corridor abruptly changes from rigid to flexible. Limited by objective factors such as the initial sag of the steel strands and differences in the friction coefficients of each support point, the timing of the departure of multiple support points from the sliding track often varies, resulting in nonlinear and asymmetrical changes in the overall support stiffness of the structure. Under these conditions, if the control system continues to enforce absolute geometric alignment, severe internal force resistance will arise between the support points due to the lack of coordination in physical deformation. This internal force resistance will induce a torsional tendency in the corridor body, causing a sharp increase in local stress at key connection nodes. When the local stress approaches or even exceeds the material's yield limit, it can easily lead to permanent plastic damage to the structure, posing a structural safety hazard to the entire project.

[0004] Furthermore, in actual construction environments, existing synchronous control systems typically lack a strict time phase alignment mechanism between heterogeneous sensor data at the underlying data acquisition level. Under conditions of frequent start-ups and shutdowns of large equipment, sensor-acquired data is susceptible to transient electromagnetic interference, leading to time lags and numerical distortions in the mechanical and displacement data fed back to the control center. This, in turn, causes calculation deviations and output oscillations in system control commands. Simultaneously, traditional hydraulic drive circuits often lack underlying anti-backflow and automatic interlocking protection logic when facing extreme conditions such as sudden increases in support point force and actual load pressure exceeding the system's oil supply pressure. This poses engineering risks of passive hydraulic cylinder retraction and uncontrolled retraction of support points. Therefore, a synchronous sliding and overall lifting construction method for steel structure corridors is needed to address the severe internal force conflicts and local stress concentrations caused by abrupt changes in support boundary stiffness and the limitations of traditional rigid displacement synchronous control logic during the transition between sliding and lifting conditions in large steel structure corridors. Summary of the Invention

[0005] The purpose of this invention is to provide a construction method for synchronous sliding and overall lifting of steel structure corridors, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a construction method for synchronous sliding and overall lifting of a steel structure corridor, implemented through a collaborative control system, which includes a sensing system, a computing system, and a drive system, and includes the following steps: S1: Real-time load data, absolute travel data, and local strain data of each support point of the connecting corridor structure are obtained through the sensing system; S2: The calculation system calculates the local stiffness change characteristics of each support boundary based on real-time load data and absolute travel data to determine whether the connecting corridor structure has entered the working condition transition period from rigid sliding track to flexible lifting rigging. S3: When the transition period of the working condition is determined, the calculation system generates asymmetric displacement commands based on local strain data, preloaded prior flexibility matrix and flexibility prediction model, and drives each support point to perform asymmetric displacement adjustment according to the asymmetric displacement commands through the drive system in order to release the local stress of the corridor structure. S4: During the asymmetric displacement adjustment process, the local stiffness change characteristics are continuously monitored. When it is determined that the connecting corridor structure has returned to a steady state, the pose alignment is performed based on the support point with the lowest current elevation, and the system is switched to the equal elevation synchronous control mode to complete the overall lifting.

[0007] Traditional displacement synchronization control methods are prone to torsional deformation of the connecting corridor body when facing structural support medium transitions due to objective differences in the timing of disengagement between support points. The construction method of this invention relaxes the restrictions on absolute synchronization of geometric displacements, establishing a collaborative control logic aimed at balancing the local stress state of the connecting corridor structure. This invention utilizes load and stroke data to extract stiffness change characteristics, using this as the trigger condition for judging the transition state. During the transition, the collaborative control system directly intervenes in physical actions through a flexibility prediction model, allowing overloaded support nodes to produce controlled displacement hysteresis to release accumulated strain energy, while simultaneously scheduling lightly loaded support nodes to actively output positive stroke to share the excess load. This adaptive adjustment of multi-node asymmetric spatial stroke suppresses stress concentration within the connecting corridor structure, ensuring smooth transitions under varying stiffness conditions.

[0008] Preferably, in step S1, the sensing system includes a clock synchronization unit. This unit sends hardware trigger pulses to the load sensing module, displacement sensing module, and strain acquisition module distributed across different buses. This ensures that each module, upon receiving the hardware trigger pulse, synchronously locks its current data and uniformly appends a global timestamp to the acquired real-time load data, absolute travel data, and local strain data before packetizing and uploading. This process eliminates the time phase difference generated by heterogeneous data sources during network bus transmission, ensuring strict alignment of the mechanical state analysis in the time domain.

[0009] Preferably, in step S2, the calculation system includes a signal processing module and an optimization calculation module. The signal processing module calculates the real-time displacement change of each support point based on the absolute travel data, and triggers a stiffness calculation event when the real-time displacement change reaches a preset spatial displacement trigger threshold. After being triggered, the optimization calculation module calculates the real-time stiffness gradient based on the real-time load data and the absolute travel data, and calculates the average value of the absolute value of the stiffness gradient within the travel time window to obtain the stiffness gradient window mean. The optimization calculation module compares the stiffness gradient window mean with a preset steady-state judgment threshold. If the stiffness gradient window mean is greater than the steady-state judgment threshold, it determines that the working condition transition period has begun. If the results of multiple consecutive calculations show that the stiffness gradient window mean is less than or equal to the steady-state judgment threshold, it determines that the working condition has been restored.

[0010] Preferably, before calculating the local stiffness variation characteristics of each support boundary in step S2, a data cleaning step is included for the real-time load data: establishing a sliding time window, calculating the arithmetic mean and standard deviation of the load samples within the current sliding time window; calculating the absolute value of the deviation between the current real-time load data and the arithmetic mean; if the absolute value of the deviation is greater than three times the standard deviation, the current real-time load data is determined to be an invalid distortion point and is removed; using the numerical slope of the previous two effective sampling periods, forward first-order linear interpolation is performed to generate estimated values ​​to fill the data gaps after removal. The cleaning logic filters out transient electromagnetic interference jump values ​​coupled into the communication link by the start and stop of field equipment, improving the continuity and smoothness of the input data.

[0011] Preferably, in step S3, the calculation system includes an optimization calculation module. After determining that the working condition transition period has begun, the optimization calculation module adaptively relaxes the displacement tolerance domain for the geometric synchronicity between each support point, retrieves the preloaded prior compliance matrix, maps the virtual trial displacement vector to the theoretical strain increment of each monitoring node, and then combines the local strain data to establish a quadratic programming objective function containing a weighted strain energy term and a control increment penalty term and performs optimization to solve it. The output is a multivariate control vector containing negative and positive displacement increments as an asymmetric displacement command.

[0012] Preferably, in step S3, the drive system extracts the target control voltage allocated to the corresponding support point and converts it into a pulse width modulation (PWM) signal based on the linear conversion gain from voltage to duty cycle. The product of a preset dead-zone compensation duty cycle and a sign function is then superimposed onto the PWM signal. Finally, the PWM signal with dead-zone compensation is output to the hydraulic drive circuit to regulate the flow rate into the corresponding hydraulic cylinder. The introduction of dead-zone compensation compensates for the static mechanical friction when the hydraulic servo valve spool is in the neutral position, improving the actuator's response sensitivity to minute compensation displacement commands.

[0013] Preferably, the drive system includes a proportional servo module and a hydraulic drive circuit. The proportional servo module converts the target control voltage into a pulse-width modulation (PWM) signal and adds the dead-zone compensation duty cycle to the PWM signal. Each branch hydraulic cylinder in the hydraulic drive circuit has an externally controlled balance valve connected in series at its bearing chamber inlet. When a sudden increase in local structural stress causes the actual load pressure to approach or exceed the supply pressure, the externally controlled balance valve automatically throttles or locks. This design prevents hydraulic oil backflow and uncontrolled retraction of local support points due to insufficient supply pressure differential under heavy load conditions.

[0014] Preferably, before executing step S1, an initial parameter configuration step is included through the calculation system: loading the prior compliance matrix and setting the spatial displacement trigger threshold, while assigning initial weight coefficients to each monitoring node. Furthermore, during step S2, when the cumulative displacement increment reaches the spatial displacement trigger threshold, a stiffness calculation event is triggered. The spatial displacement trigger threshold ranges from 0.5 mm to 2.0 mm.

[0015] Preferably, during step S3, the computing system is externally configured with a software watchdog timer and a global communication fault interruption mechanism: a time limit is set for a single optimization calculation. When the solution time exceeds the time limit, the software watchdog timer suspends the current calculation thread and calls the displacement instruction from the previous cycle to maintain device operation. If the software watchdog timer triggers more than a preset number of times consecutively, or if the downlink communication bus does not receive feedback messages from the physical execution module for several consecutive cycles, the system directly outputs a zero-increment instruction and triggers the pilot-operated relief valve and bidirectional hydraulic lock in the underlying hydraulic circuit to enter an emergency locking state. This mechanism provides underlying safety protection logic in case of algorithm timeout or hardware communication interruption.

[0016] Preferably, in step S4, when switching to the equal-elevation synchronous control mode, a step of smoothing the convergence of control parameters is also included: using a discrete exponential decay function, the displacement tolerance and strain weight coefficients relaxed during the working condition transition period are gradually and smoothly converged to the preset standard synchronization accuracy threshold and initial weights. Furthermore, in step S4, pose alignment is performed based on the support point with the lowest current elevation, specifically including: generating a smooth displacement correction trajectory, driving the hydraulic cylinder with stroke lag to perform positive displacement compensation, and synchronously monitoring the local strain data of the corresponding node. If the strain increment of any monitored node approaches the preset material yield limit, the displacement correction rate of the corresponding hydraulic circuit is reduced or a temporary pause action is triggered. This prevents additional internal forces from being generated in the structure due to forced repositioning.

[0017] Beneficial effects: 1. The synchronous sliding and overall lifting construction method for steel structure corridors of the present invention calculates the local stiffness change characteristics in real time and relaxes the geometric displacement synchronization restrictions when the transition period is determined. It uses a flexibility prediction model to output asymmetric displacement commands, allowing overloaded support nodes to generate controlled displacement lag, and scheduling lightly loaded nodes to actively bear the load. This collaborative control logic based on dynamic adjustment of physical state solves the serious internal force conflict problem caused by forced alignment during the transition of support media in traditional absolute displacement synchronous control, effectively alleviating the local stress concentration phenomenon in the corridor structure and ensuring the force balance and safety of the corridor structure during the variable stiffness transfer process.

[0018] 2. The synchronous sliding and overall lifting construction method for steel structure corridors of the present invention sends hardware trigger pulses to each sensing module through an independent clock synchronization unit, synchronously locking the analog-to-digital conversion data at the bottom layer and uniformly adding timestamps, thus eliminating the time phase difference caused by heterogeneous data sources during network bus transmission. Simultaneously, a data cleaning mechanism based on moving time windows and standard deviation comparison filters out transient electromagnetic interference jumps caused by the start-up and shutdown of high-power equipment on site. The above processing mechanism improves the temporal alignment accuracy and smoothness of the mechanical state data, preventing drastic jumps in control commands due to individual extreme erroneous data being transmitted to the optimization calculation module.

[0019] 3. The synchronous sliding and overall lifting construction method for steel structure corridors of the present invention incorporates safety protection logic at both the control algorithm and the underlying physical execution level. At the software algorithm level, an external watchdog timer and a global communication fault interruption mechanism promptly block the issuance of abnormal commands when optimization timeouts or downlink blockages occur. At the hardware fluid level, externally controlled balance valves and bidirectional hydraulic locks are connected in series in each branch oil circuit to automatically throttle or lock when the actual load pressure approaches or exceeds the supply oil pressure. This combined hardware and software protection mechanism prevents hydraulic oil backflow and partial uncontrolled retraction of the corridor caused by negative pressure differences under heavy load extreme conditions, providing a fundamental physical defense for equipment operation.

[0020] 4. The synchronous sliding and overall lifting construction method for steel structure corridors of the present invention, by setting a spatial displacement trigger threshold, eliminates the dependence of stiffness calculation on a fixed clock frequency. Instead, a valid calculation event is triggered only when the cumulative displacement increment reaches the threshold. This fundamentally eliminates numerical divergence and calculation dead zones caused by small displacement changes, improves the numerical stability and calculation efficiency of stiffness identification, and avoids frequent oscillations of the actuator caused by invalid calculations in micro-movement or static states.

[0021] 5. After the working condition transition period, this invention uses a discrete exponential decay function to smoothly converge the displacement tolerance and strain weighting coefficients, rather than directly switching to standard synchronization parameters. This gradual parameter backtracking mechanism avoids transient step changes in control commands, effectively suppresses pressure shocks in the hydraulic circuit caused by parameter mutations, and ensures the smooth operation of the actuator during control mode switching.

[0022] 6. This invention constructs a dual safety protection system at both the control algorithm and the underlying physical execution level. At the software algorithm level, an external software watchdog timer monitors the optimization time. If a timeout occurs, the computation thread is automatically suspended, and the previous cycle's instructions are invoked to maintain operation, preventing the algorithm from getting stuck in an iterative non-convergence computational deadlock. At the hardware fluid level, externally controlled balance valves and bidirectional hydraulic locks are connected in series in each branch hydraulic circuit, automatically throttling or locking when the load pressure approaches or exceeds the supply pressure. This combined hardware and software protection mechanism effectively avoids the risk of partial uncontrolled reversal and structural damage to the connecting corridor under extreme conditions such as communication interruptions, algorithm deadlocks, or physical power outages.

[0023] 7. This invention uses a comparison logic between the arithmetic mean of load samples within a moving time window and three times the standard deviation to dynamically detect and remove outliers in real-time load data, and fills data gaps using forward first-order linear interpolation. This data cleaning mechanism effectively filters out transient electromagnetic interference jumps coupled into the communication link from the start-up and shutdown of high-power equipment in the field, preventing individual extreme erroneous data from entering the optimization solver and causing drastic changes in control commands, ensuring the continuity and smoothness of the input parameter matrix, and improving the anti-interference capability of the closed-loop control system.

[0024] 8. This invention uses an independent clock synchronization unit to send nanosecond-width hardware trigger pulses to load sensing modules, displacement sensing modules, and strain acquisition modules distributed on different buses. This ensures that each module synchronously locks the value of the analog-to-digital converter register upon receiving the rising edge of the pulse and uniformly appends a global timestamp. This mechanism eliminates the time phase difference generated during network bus transmission of heterogeneous sensor data at the hardware level, ensuring strict alignment of load, displacement, and strain data in the time domain and avoiding distortion in dynamic stiffness matrix calculations caused by signal phase differences.

[0025] 9. The method of this invention identifies the stiffness evolution characteristics of the support boundary in real time and adaptively and smoothly switches between rigid synchronous control and flexible asymmetric adjustment, ensuring that the connecting corridor structure maintains stress balance throughout the transition from the sliding track to the lifting rigging. Compared with traditional methods that cause structural torsion and local stress exceedances due to forced geometric alignment during the transition period, this invention effectively reduces the peak stress at key connection nodes, reduces the risk of permanent plastic damage to the structure, and significantly improves the safety and reliability of large steel structure connecting corridor construction. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall architecture of the collaborative control system for the synchronous sliding and overall lifting construction method of the steel structure connecting corridor, as shown in the embodiment. Figure 2 The main flowchart of the collaborative control system execution control method for the synchronous sliding and overall lifting construction method of the steel structure connecting corridor, as shown in the embodiment; Figure 3 This is a logical architecture diagram of the initial static parameter configuration stage of the construction method for synchronous sliding and overall lifting of steel structure corridors, as exemplified in this case. Detailed Implementation

[0027] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments.

[0028] Please see Figures 1-3 This embodiment provides the following technical solution: a construction method for synchronous sliding and overall lifting of a steel structure corridor, implemented through a collaborative control system 1. The collaborative control system 1 includes a sensing system 10, a computing system 20, and a drive system 30. The sensing system 10 is responsible for collecting the physical state parameters of the corridor structure under construction conditions. The computing system 20 is responsible for parameter analysis, stiffness identification, and deviation vector calculation. The drive system 30 is responsible for driving the actuator to generate asymmetric displacement compensation based on the calculation results.

[0029] The sensing system 10 in this embodiment includes a displacement sensing module 101, a pressure monitoring module 102, and a strain acquisition module 103. The displacement sensing module 101 acquires the real-time absolute displacement of the support point. The pressure monitoring module 102 acquires the real-time support reaction force of the hydraulic cylinder via a hydraulic transmitter. The strain acquisition module 103 acquires the local strain of key nodes in the connecting corridor members.

[0030] The computing system 20 includes a signal processing module 201 and an optimization calculation module 202. The signal processing module 201 is responsible for high-frequency noise filtering and spatial discrete event determination. The optimization calculation module 202 stores a preset compliance matrix and performs constraint-based objective function optimization.

[0031] The drive system 30 in this embodiment includes a hydraulic pump station module 301, a proportional servo module 302, and a terminal cylinder group module 303. The proportional servo module 302 adjusts the flow rate of each independent hydraulic branch in the terminal cylinder group module 303 to achieve controlled asymmetric displacement fine-tuning.

[0032] This embodiment of a construction method for synchronous sliding and overall lifting of a steel structure connecting corridor includes the following steps: S10, load the prior compliance matrix into the computing system 20 and set the spatial displacement trigger threshold, and at the same time assign initial weight coefficients to each monitoring node. S20 drives the connecting corridor to generate displacement and the sensing system 10 synchronously collects the real-time displacement, support reaction force and nodal strain data of each support point; S30, the signal processing module 201 determines whether the displacement increment reaches the spatial displacement trigger threshold. If the threshold is met, a boundary feature sampling event is triggered. S40, the optimization calculation module 202 extracts the reaction force increment and displacement increment at the trigger moment, and calculates the transient virtual stiffness and spatial stiffness gradient of each support point at the current time. S50, the optimization calculation module 202 determines the boundary transition state based on the stiffness gradient fluctuation, dynamically evolves the weight coefficients of each node, and refreshes the dynamic displacement tolerance domain. S60, the optimization calculation module 202 uses the prior compliance matrix to construct a global strain energy substitute index prediction model, and combines it with the real-time strain vector to establish a quadratic programming objective function; S70, the optimization calculation module 202 solves for the minimum value of the objective function under the constraint of the dynamic displacement tolerance domain, and obtains the optimal displacement offset vector of each support point; S80, the drive system 30 superimposes the optimal displacement offset vector onto the synchronization command and performs asymmetric displacement adjustment to actively dissipate local concentrated strain in the structure. S90 continuously monitors the stiffness gradient change trend and performs smooth backtracking of control parameters after the boundary transition condition is determined, returning to steady-state synchronization mode.

[0033] During the actual construction process, before the collaborative control system officially drives the actuator to generate physical displacement, the computing system 20 first completes the digital modeling of the mechanical response relationship of the connecting corridor structure and the computational configuration of the control threshold.

[0034] As one implementation method, the optimization calculation module 202 first loads the pre-stored prior compliance matrix C. It can be understood that the prior compliance matrix C constitutes the underlying mechanical model for strain prediction in the system, which is obtained through finite element numerical simulation of key working conditions of the connecting corridor structure throughout the construction process. The size of the prior compliance matrix C is jointly determined by the total number N of strain acquisition modules 103 and the number M of hydraulic cylinders with independent control capabilities in the terminal cylinder group module 303, i.e. Each element in the matrix Defined as the theoretical strain response increment caused at the j-th strain monitoring node when the i-th hydraulic cylinder generates a unit displacement increment. Its mathematical relationship follows the principle of linear superposition: ; In the formula, This is the prior compliance coefficient; For the first Theoretical strain change at each strain monitoring point; For the first The displacement command deviation of each hydraulic cylinder. Through a preset matrix, the optimization calculation module 202 can predict the impact of different displacement compensation combinations on the global internal force distribution of the structure through algebraic calculations without driving the hydraulic system to perform physical testing, thereby providing a decision basis for subsequent asymmetric control.

[0035] During the configuration process, the optimization calculation module 202 assigns initial weighting coefficients to each strain acquisition module 103. Initial weighting coefficients The values ​​of these values ​​reflect the sensitivity of different component nodes to strain changes and their safety redundancy. Specifically, for member nodes under severe tension at mid-span locations with large spans, or variable cross-section nodes located in the sliding-to-lift support switching zone, the weighting coefficient is typically set between 1.5 and 3.0, while for conventional secondary support nodes, the weighting coefficient tends to be close to 1.0. These weighting coefficients constitute the initial weight vector: ; It also serves as a penalty factor in the weighted summation of subsequent global strain energy substitute indices. This configuration ensures that the control algorithm can automatically allocate computational resources to structurally vulnerable areas during displacement optimization, prioritizing the suppression of strain growth at high-stress-risk nodes.

[0036] To address the technical issue of unstable data sampling during extremely low-speed movement of the connecting corridor, the optimization calculation module 202 sets a spatial displacement trigger threshold. The threshold value was determined by comprehensively considering both the static resolution of the displacement sensing module 101 and the mechanical backlash of the hydraulic actuation system. In practical applications, the spatial displacement trigger threshold... The value range is typically configured between 0.5mm and 2.0mm. Its core principle is that the system no longer performs stiffness calculations based on a fixed clock frequency. Instead, a valid calculation event is determined only when the cumulative displacement increment fed back by the displacement sensing module 101 reaches a threshold. This triggering mechanism based on spatial position changes ensures that, during stiffness differential calculations, the denominator term—the displacement increment—always remains well above the sensor noise level, eliminating numerical divergence and computational dead zones caused by minute displacement changes at the underlying logic level.

[0037] The signal processing module 201 synchronously initializes the filtering characteristics of the support force monitoring module 102 and the strain acquisition module 103. To address the complex electromagnetic environment at the construction site, the signal processing module 201 smooths the pressure and strain signals by configuring a low-pass filter. The settings for the cutoff frequency and sampling period involved in the filter can be matched by those skilled in the art based on the sensor hardware manual and the interference frequencies at the site; the specific implementation is well-known in the field and will not be elaborated upon here.

[0038] After receiving the operation start command, the computing system 20 records the baseline status values ​​of each monitoring module. These baseline values ​​include the initial displacement value. Initial support reaction force value and initial strain value Meanwhile, the optimization calculation module 202 establishes a one-to-one correspondence between the physical numbers of each sensor and the indexes of the calculation matrix, ensuring the spatiotemporal consistency of multi-source heterogeneous data in the calculation process. After completing the above parameter configuration and state calibration, the system establishes a complete mapping logic from the bottom-level sensor data to the top-level optimization algorithm.

[0039] This embodiment describes a construction method for synchronous sliding and overall lifting of a steel structure corridor. During the displacement of the corridor structure, the sensing system 10 acquires multi-source physical parameters in real time, providing basic data support for subsequent boundary identification and optimization control.

[0040] S201, the sensing system 10 establishes a global synchronous sampling reference. In this embodiment, the signal processing module 201 acts as the communication master station, using the distributed clock mechanism of the real-time industrial bus to issue synchronous sampling commands to the displacement sensing module 101, pressure monitoring module 102, and strain acquisition module 103. Considering the difference in response frequency of different sensor hardware, the signal processing module 201 presets a fixed control period T, and locks the physical values ​​of each sensor at the current moment through level triggering or protocol synchronization packets at the beginning of each period. In the case of inconsistent sampling frequencies, the system compensates the low-frequency signal to be consistent with the master control frequency through a linear interpolation algorithm, thereby ensuring that the displacement increment and pressure increment participating in the stiffness calculation are strictly aligned on the time axis, avoiding distortion of mechanical feature extraction caused by signal phase difference.

[0041] S202, Displacement sensing module 101 acquires real-time absolute displacement data of each support point. In this embodiment, a wire-type sensor installed at the hydraulic support point outputs an electrical signal proportional to the tensile length. The signal processing module 201 converts this signal into an absolute displacement value with physical dimensions. To suppress random vibration interference during mechanical transmission, the signal processing module 201 employs a moving average filtering algorithm with a filtering window length of... The number of sampling points is typically set between 10 and 50, depending on the stepping speed of the actuator. The processed smooth displacement value is denoted as... As the most direct feedback parameter reflecting the spatial attitude of the connecting corridor.

[0042] S203, the pressure monitoring module 102 acquires the pressure signal at the support point and maps it to a real-time support reaction force. As one implementation method, the pressure monitoring module 102 collects the internal pressure of the rodless chamber of the hydraulic cylinder in real time. The calculation system 20 calculates the physical reaction force value of each support point at the current moment using the following formula, based on the preset geometric constants of the hydraulic cylinder structure: ; In the formula, For the first Each support point is Real-time support and reaction force at all times; For the first Real-time pressure value of the rodless chamber of a hydraulic cylinder; For the first The effective pressure-bearing area constant of each hydraulic cylinder. Due to pressure pulsations in the hydraulic system during start-up and shutdown, a first-order hysteresis filter is introduced when calculating the support reaction force to filter out transient impact pressures that do not represent the true stress state of the structure.

[0043] S204, Strain acquisition module 103 captures real-time strain data of key nodes in the connecting corridor. In this embodiment, surface strain gauges acquire strain signals caused by the redistribution of internal forces within the structure. To eliminate the influence of drastic fluctuations in ambient temperature on the thermal expansion and contraction of the steel structure and the sensors, the strain acquisition module 103 automatically subtracts the non-stressed strain components measured by the reference temperature compensator before uploading the data to the signal processing module 201. The effective strain value after temperature compensation and de-stressing processing... It can more realistically reflect the stress state of the connecting corridor during the sliding transition phase.

[0044] S205, the signal processing module 201 processes the above smoothed displacement value Real-time support reaction force and effective strain value Vectorization encapsulation is performed. In this embodiment, these discrete physical parameters are arranged according to a predefined topological row to form the global state feature vector for the current sampling period: .

[0045] The computing system 20 stores the vectors in real time into the circular buffer of the optimization calculation module. This data encapsulation mechanism realizes the spatiotemporal decoupling of multi-source heterogeneous data, providing a structured input source for subsequent boundary stiffness identification based on spatial events.

[0046] Through the synchronous sensing logic executed by the sensing system 10, the system can construct a high-fidelity digital feature stream under dynamic construction conditions. Compared with conventional independent sensing monitoring, this embodiment solves the problem of inconsistent "force-displacement" response of heavy steel structures under low-speed propulsion conditions by establishing a strongly coupled synchronous relationship at the underlying level, ensuring the physical and logical coherence of the input data for subsequent optimization algorithms. The specific circuit protection and data verification logic involved in the signal processing module 201 can be implemented using general specifications by those skilled in the art, and is well-known in the field, so it will not be elaborated here.

[0047] In this embodiment, a construction method for synchronous sliding and overall lifting of a steel structure corridor is described. After the sensing system 10 outputs synchronous data, the signal processing module 201 performs discretization based on the spatial displacement increment to provide mechanically meaningful calculation samples for subsequent stiffness identification.

[0048] S301, the signal processing module 201 maintains a set of reference displacement vectors through its internal event recording unit. In this embodiment, the event recording unit typically consists of non-volatile storage space allocated by the computing system 20, used to record the absolute displacement reference of each support point at the end of the previous effective control cycle. The signal processing module 201 acquires the smoothed displacement value at the current moment in real time. The difference between the value and the corresponding reference displacement value is then calculated to determine the real-time displacement change of each support point relative to the previous trigger point. : ; In the formula, For the first The absolute value of the displacement increment of each support point; This represents the real-time feedback displacement for the current sampling period. This is a reference displacement value pre-stored in the event log unit. The logic of using absolute value calculation is to ensure that the system can trigger the feature capture logic through a unified spatial step size when the connecting corridor is advancing forward or making fine adjustments to its attitude.

[0049] S302, the signal processing module 201 extracts the real-time displacement change. With the preset spatial displacement trigger threshold Value comparison is performed. It is understandable that the sliding and advancing of steel structure corridors is often accompanied by intermittent crawling of the hydraulic system, and its displacement changes non-linearly over time. If traditional time-domain equidistant sampling is used, the fluctuations in support reaction force are often masked by background noise from the sensors during periods of minimal displacement change, leading to stiffness calculation failure. As a preferred method, a spatial displacement trigger threshold... The value is determined by a combination of the span of the connecting corridor and the flow resolution of the hydraulic pump station, and is usually set within the range of 0.8mm to 1.5mm. If the displacement change of all support points does not reach the threshold, the signal processing module 201 will determine that the current working condition is in a micro-motion or static state, and will not update the control parameters to avoid frequent oscillations of the actuator caused by invalid calculations.

[0050] S303, when the displacement increment of any support point is detected to meet the judgment condition. At that time, the signal processing module 201 determines that the current moment is a valid spatial feature point. In this embodiment, in order to maintain the synchronization of multi-point coordinated control, once the trigger condition is met, the system will synchronously lock all points at that moment. Support points and Measurement data from each strain node. The signal processing module 201 then generates an event sequence index with timing attributes. The data under the index is then encapsulated into a feature data package.

[0051] S304, the optimization calculation module 202 receives and parses the feature data packet from the signal processing module 201. The data packet contains the real-time support reaction force at the k-th valid event time. Real-time absolute displacement and key node strain vectors Through this displacement span-triggered logic, the system ensures that the displacement difference term in two adjacent calculations is equal. Always not less than the spatial displacement trigger threshold This design ensures the stability of numerical calculations from a physical mechanism perspective, enabling the denominator to have sufficient redundancy when calculating virtual stiffness, thereby effectively suppressing the risk of control command divergence caused by data fluctuations.

[0052] S305, after feature extraction is completed, the signal processing module 201 automatically performs a refresh operation on the reference displacement benchmark. In this embodiment, the system updates the currently locked real-time displacement value. This is overwritten into the event log unit and serves as the new baseline for subsequent judgments. ; Through this rolling update mechanism, the system achieves discretized coverage of the construction trajectory of the connecting corridor, ensuring that each calculation sample corresponds to a transient state in which the structure undergoes a definite physical displacement. This lays the data foundation for subsequent analysis of the mechanical performance evolution of the support boundary during the transition from the sliding support to the lifting point. Regarding the specific interrupt triggering logic and memory address mapping involved in the signal processing module 201, those skilled in the art can adapt them according to the selected high-performance controller; these are well-known technologies in the field and will not be elaborated upon here.

[0053] This embodiment of a construction method for synchronous sliding and overall lifting of a steel structure corridor, after the optimization calculation module 202 obtains the feature data packets corresponding to spatial discrete events, achieves real-time quantification of the physical state of the support boundary of the corridor structure through the micro-differentiation processing of the mechanical response of the support points.

[0054] S401, the optimization calculation module 202 retrieves the mechanical parameters under the current event index kk and compares them with the previous index. By correlating historical data, the transient virtual stiffness of each support point is calculated. In this embodiment, the transient virtual stiffness reflects the mechanical constraint strength of the support position within the current displacement range. Because the constraint stiffness of the support points of the steel structure corridor undergoes a sudden change in magnitude when switching between the sliding support and the lifting rigging, the system calculates the transient virtual stiffness of each point in real time using the following formula: ; In the formula, For the first The support point is at the first Transient virtual stiffness in subsampling events; and The first Second and third Real-time support and reaction force at the moment of the event; and These represent the real-time absolute displacements at the corresponding moments. Understandably, thanks to the aforementioned spatial discrete event judgment logic, the displacement difference in the denominator always remains above the preset spatial displacement trigger threshold. To further ensure the robustness of the algorithm, the optimization calculation module 202 performs a non-zero check before performing the division operation. If the denominator abnormally approaches zero, the stiffness value from the previous moment remains unchanged, thus avoiding computational dead zones. The transient virtual stiffness can realistically reflect the changes in the contact state during the support disengagement stage, as well as the evolution trend of the mechanical response due to elastic elongation during rigging tensioning.

[0055] S402, the optimization calculation module 202 further calculates the stiffness gradient of each support point based on the transient virtual stiffness data on the time series. In this embodiment, the stiffness gradient describes the rate of change of support stiffness as construction progresses and is a core characteristic parameter for determining the transition phase of the working condition. The gradient is obtained by differentiating the stiffness values ​​of adjacent events: ; In the formula, For the first Real-time stiffness gradient of each support point; This is a preset spatial displacement trigger threshold. By introducing a stiffness gradient, the system can identify the critical inflection point of the nonlinear change between support force and displacement, thus providing a physical basis for subsequent adaptive adjustment control strategies. For example, when the stiffness gradient changes from positive to negative or fluctuates drastically, it usually corresponds to the transition state of the support boundary from a rigid sliding track to a flexible lifting rigging.

[0056] S403, the optimization calculation module 202 calculates the global stiffness characteristic parameters for macroscopic evaluation of the overall stability of the connecting corridor structure. As one implementation method, the system calculates the trace of the transient virtual stiffness of all support points, i.e., the global stiffness characteristic value. The eigenvalues, in a physical sense, represent the total support modulus of the connecting corridor structure under its current construction condition. In actual operation, when the connecting corridor completely transitions from the sliding support to the suspended lifting state, the global stiffness eigenvalues ​​undergo a significant decrease because the equivalent stiffness of the lifting rigging is usually much smaller than the support stiffness of the sliding track. The optimization calculation module 202, by monitoring the magnitude and slope of the decrease in eigenvalues ​​in a continuous sequence, can accurately determine the physical progress of the structure's transition from the "multi-point friction sliding" to the "suspended lifting" working condition.

[0057] S404, Optimization Calculation Module 202 compares the stiffness gradient of each support point. With the preset steady-state threshold coefficient In this embodiment, the steady-state threshold coefficient Typically, the stiffness gradient is set to 5% to 10% of the design stiffness of the connecting corridor structure. If the absolute value of the stiffness gradient at a certain support point continuously exceeds the threshold, the system determines that the location is in a transition period of drastic changes in boundary conditions. At this time, the optimization calculation module 202 will mark the node number and trigger subsequent parameter evolution logic to adjust the displacement compensation strategy. As a preferred method, the system will simultaneously compare the consistency of stiffness gradients between different support points. If the gradient difference exceeds a preset proportion, it is determined that the structure has a tendency for eccentric stress, and the displacement compensation control of lagging support points needs to be strengthened.

[0058] This embodiment of a construction method for synchronous sliding and overall lifting of a steel structure corridor, after the optimization calculation module 202 identifies the transient boundary characteristics of each support point, dynamically adjusts the weight allocation of the control target and the constraint range of the execution mechanism to enable the system to handle nonlinear boundary mutations.

[0059] S501, the optimization calculation module 202 calculates the weight penalty function based on the stiffness gradient of each support point, and dynamically evolves the weight coefficient of each monitoring node. In this embodiment, the weighting coefficients are no longer fixed scalars, but rather functions that are updated in real time as the boundary stiffness fluctuates. When the stiffness gradient of a certain support point... When numerical values ​​jump abruptly, it indicates that the physical support state at the location is undergoing a period of drastic change, either due to slippage or rigging tension, which can easily induce a redistribution of local internal forces. As one implementation method, the system first determines the set of strain monitoring nodes affected by the support points based on the structural topology of the connecting corridor, and then corrects the node weights within the set using the following formula: ; In the formula, For the first The monitoring node at the first Dynamic weighting coefficients in this event; These are the preset initial weighting coefficients; This is the weight sensitivity factor, whose value is usually determined based on the redundancy of the component's yield strength, and its value ranges from 2.0 to 5.0. This represents the absolute value of the stiffness gradient of the currently associated support point. This represents the maximum absolute value of the stiffness gradient among all support points at the current moment. The minimum operator used to ensure numerical stability is typically set to 10⁻⁶. Through evolutionary logic, the system can automatically increase the strain attention weight in regions of abrupt stiffness changes, so that subsequent optimization calculations can prioritize suppressing strain spikes by adjusting the displacement in these regions when solving for displacement biases, thereby keeping the internal forces of the structure within a safe threshold.

[0060] S502, Optimization Calculation Module 202 is based on global stiffness eigenvalues The changing trend dynamically updates the displacement tolerance. It is understandable that the displacement tolerance range defines the maximum allowable relative displacement difference between each support point. During the normal sliding phase, the support boundary is a rigid track, and the system needs to maintain high-precision synchronous displacement. However, when entering the transition from sliding to lifting, the support boundary gradually transitions to a flexible lifting rigging. Maintaining too small a displacement constraint at this point will limit the system's ability to utilize asymmetric displacement to reduce stress concentration. In this embodiment, the optimization calculation module 202 adaptively adjusts the displacement tolerance range using the following formula: ; In the formula, The tolerance domain is the dynamically updated displacement. The preset standard synchronization accuracy is usually set between 2mm and 5mm, depending on the leveling capability of the hydraulic system. This is the relaxation coefficient for the tolerance region, with a value ranging from 0.5 to 1.2; This is the steady-state global stiffness trace before entering the transition condition. The refresh logic enables the system to actively release the geometric constraint degrees of freedom between support points when it detects that the structure has entered the flexible boundary condition, allowing for controlled asymmetric displacement increments, thereby providing the necessary displacement adjustment space for actively dissipating the internal forces of the structure. It should be noted that the upper limit of the displacement tolerance domain for dynamic refresh is usually set to 30% of the geometric nonlinearity critical value of the connecting corridor structure to prevent excessive displacement deviation from causing structural instability.

[0061] S503, the optimization calculation module 202 performs smoothing processing on the evolved parameters to ensure the continuity of control commands. As a preferred method, to avoid sudden jumps in weights or tolerance due to sampling noise, the system uses a discretized first-order inertial element for filtering: ; In the formula, For the final output control parameters (weights or tolerance range); This refers to the original evolution value calculated in this step; The smoothing filter coefficients range from 0.3 to 0.7. This smoothing mechanism can filter out transient mechanical shock interference, ensuring that the criterion switching of the cooperative control system 1 is gradual and robust at the moment of operating condition change.

[0062] S504, the optimization calculation module 202 simultaneously completes the online refresh of the physical limit constraints of the actuator. In this embodiment, the system updates the physical limit constraints of the actuator based on the current real-time support reaction force. By combining the rated pressure of the hydraulic pump station module 301 and the flow saturation point of the proportional servo module 302, the effective displacement compensation capability that each cylinder can output under the current load is calculated. These physical limit parameters are related to the aforementioned dynamically evolved weight vector. and displacement tolerance Together, they form a complete set of constraints for subsequent quadratic programming optimization calculations.

[0063] In this embodiment, a construction method for synchronous sliding and overall lifting of a steel structure corridor is proposed. After the optimization calculation module 202 completes the dynamic evolution of control parameters, the system does not immediately drive the hydraulic actuator to generate physical displacement. Instead, it uses the underlying mechanical transmission relationship to predict the strain response of different displacement compensation schemes in the digital space, thereby avoiding physical control trials on the real structure that are prone to causing excessive stress.

[0064] S601, Optimization calculation module 202 is based on dynamically updated displacement tolerance domain. A virtual set of trial displacement vectors is constructed in the solution space. In this embodiment, to cover various feasible displacement compensation strategies, the optimization calculation module 202 uses the current absolute displacement... Based on this, within the allowable tolerance range, discrete displacement command combinations are generated according to a preset search step size. As one implementation method, the search step size is typically matched to the minimum displacement resolution of the proportional servo module 302, generally set between 0.1mm and 0.5mm. A single set of virtual trial displacement vectors can be represented as... ,in For the first The virtual displacement increments of each support point, and the increment differences between each point are strictly controlled within the current displacement tolerance range. .

[0065] S602, the optimization calculation module 202 retrieves the pre-loaded prior compliance matrix. Calculate the theoretical strain increment caused by the virtual displacement increment at each node of the structure. As a preferred method, the a priori compliance matrix... The response can be calculated by sequentially applying unit displacement disturbances to each support node in the finite element model before structural construction and extracting the corresponding strain monitoring node. Physically, the calculation is based on the small deformation assumption of elasticity, meaning that the internal force changes of the connecting corridor structure under local small displacement inputs and the strain of all nodes approximately follow a linear superposition principle. The optimization calculation module 202 uses matrix multiplication to map the displacement command in the spatial domain to the mechanical response in the strain domain. ; Expanding to specific monitoring nodes, the first Predicted strain increments corresponding to each strain monitoring point satisfy: ; In the formula, To characterize the first in the prior flexibility matrix The displacement of the first support point affects the first... The compliance coefficient is a measure of the degree of influence of strain on each node, and its magnitude reflects the mechanical sensitivity on the spatial topology. This represents the total number of support points with independent control capabilities. Through this pure algebraic mapping mechanism, the system can batch calculate the theoretical effects of a large number of displacement combinations within an extremely short control cycle, providing data support for subsequent optimization decisions.

[0066] S603, the optimization calculation module 202 superimposes the predicted strain increment with the currently measured ground state strain to obtain the absolute predicted strain value of all nodes. In this embodiment, the system extracts the latest valid strain vector locked in the event recording unit. This serves as the true baseline state of the current physical structure. The absolute predicted strain values ​​at each node are calculated using the following formula: ; In the formula, For the first Predicted absolute strain values ​​of each node after applying virtual trial displacement; For strain acquisition module 103 in the first The actual strain feedback is captured and detrended at each effective event moment. This processing logic, which integrates the measured ground state with the theoretical increment, can, to some extent, reduce the cumulative error caused by relying solely on the theoretical model, and helps to make the algebraic prediction results closer to the actual physical evolution trajectory.

[0067] S604, Optimization calculation module 202 for absolute predicted strain values Perform physical boundary confidence verification. In practical engineering applications, due to the possibility that local structural elements may enter the plastic stage or micro-slippage may occur at connection nodes, the linear prediction results based on the prior compliance matrix may deviate when large displacement inputs occur. Therefore, the system presets material yield strain limits. The optimization calculation module 202 checks the prediction results corresponding to each group of virtual trial displacement vectors one by one. If there exists any node that satisfies... ,in The safety redundancy coefficient is usually between 0.6 and 0.8. If the virtual displacement combination is determined, it is considered to have a physical risk of causing the structure to exceed the limit.

[0068] In this case, the optimization calculation module 202 will remove the set of trial displacements from the candidate solution space. To ensure the completeness and engineering safety of the algorithm, if within the current displacement tolerance domain... If all the virtual trial displacement vector groups generated internally fail the confidence check, the optimization calculation module 202 will trigger a system safety shutdown command, lock the hydraulic pump station module 301 and send an over-limit alarm to the host computer to avoid the control algorithm falling into a logic dead zone with no effective solution output.

[0069] In this embodiment, a construction method for synchronous sliding and overall lifting of a steel structure corridor is described. After completing the algebraic prediction and safety verification of the strain response, the optimization calculation module 202 transforms the physical control objective into a mathematical programming problem in order to obtain the optimal displacement compensation strategy under the current working conditions.

[0070] S701, the optimization calculation module 202 constructs a quadratic objective function to evaluate the merits of each virtual trial displacement vector. In this embodiment, the core principle of system control lies in achieving a balance between the release of internal structural forces and the work cost of the equipment. To reduce the stress concentration at key nodes under the complex boundary of the structure transitioning from slip to lift, and to suppress high-frequency movements of the actuators, the system constructs an objective function... as follows: ; In the formula, The target cost corresponding to the virtual trial displacement vector group; For the first The dynamic weighting coefficient of each strain monitoring point in the current sampling event; The absolute strain prediction value is obtained from the aforementioned algebraic prediction; For the first Virtual displacement increment of each support point; To control the incremental penalty coefficient. From a physical perspective, the first term of the function characterizes the weighted strain energy tendency of the local dangerous region of the structure, while the second term represents the energy cost required for the control system to apply displacement disturbances. As a preferred approach, The value of is usually between 0.01 and 0.1 to limit the single-step movement range of the hydraulic cylinder and prevent the control system from oscillating due to excessive pursuit of minimizing strain.

[0071] S702, to ensure the executability of the calculated control commands in engineering, the optimization calculation module 202 establishes the set of constraints for the aforementioned objective function based on the current physical state of the system. Considering that a standard quadratic programming solver will be used subsequently, the system needs to extend the aforementioned dynamically evolving displacement tolerance domain. This can be transformed into a system of linear inequalities. Specifically, for any two support points... and ,in Expand its relative displacement constraint as follows: ; Simultaneously, based on the current operating conditions of the hydraulic pump station module 301, independent stroke constraints for the actuator are established: ; In the formula, and They represent the first The maximum allowable positive and negative displacement increment limits for each support cylinder within the current control cycle. These limits are typically determined by the remaining mechanical stroke of the cylinder and the maximum flow characteristics of the servo valve under the current differential pressure. By constructing the aforementioned set of linear inequalities, the search range for the optimal solution is explicitly limited to the operating domain allowed by the physical hardware.

[0072] S703, the optimization calculation module 202 calls its internal numerical optimization solver to solve the constrained objective function. In this embodiment, given that the objective function is a typical convex quadratic structure and the constraints have been processed into linear inequalities, the optimization calculation module 202 typically uses the effective set method or interior point method for iterative optimization. The solver searches in the multidimensional solution space for the objective function... Obtain the solution vector with the minimum value, and lock the vector as the optimal displacement command set for the current control cycle. This approach enables global coordination of displacement compensation amounts across multiple support points while ensuring real-time calculation performance.

[0073] S704, the optimization calculation module 202 performs anomaly verification and degradation processing on the solver's output state. Under extreme conditions, if the set constraints are too stringent, resulting in an empty solution space, the optimization solver may return a "no feasible solution" flag. To prevent the control algorithm from getting stuck in logic, the system is configured with an automatic relaxation mechanism. When no feasible solution is detected, the optimization calculation module 202 adjusts the displacement tolerance domain... The pressure is temporarily relaxed by 1.1 times, and the solution is restarted. If a feasible solution cannot be found after three consecutive relaxations, it indicates that the current structural deformation state is approaching the physical adjustment limit. At this point, the system automatically stops the optimization process, outputs a pressure-holding command to maintain the current servo valve opening, and reports a request for manual intervention to the operation terminal, effectively avoiding the risk of erroneous operation.

[0074] S705, after confirming that the optimal solution is valid, the calculation system 20 will assign the optimal displacement command set. The digital displacement increment is converted into a control signal that the underlying hardware can recognize. In one implementation, the digital displacement increment is converted into a corresponding analog voltage or industrial bus protocol message and sent to the proportional servo module 302. The proportional servo module 302 adjusts the valve opening of each hydraulic circuit according to the received message, driving the hydraulic cylinder to perform corresponding physical extension and retraction, thereby completing the current control cycle in a closed loop.

[0075] In this embodiment, a construction method for synchronous sliding and overall lifting of a steel structure corridor is described. After the calculation system 20 outputs the optimal displacement instruction set, the system transforms the optimization results in the digital domain into mechanical actions in the physical domain through the underlying execution network. By applying inconsistent displacement increments at multiple support points, the system actively intervenes in the internal force state of the corridor structure.

[0076] S801, proportional servo module 302 receives the optimal displacement command set. A parallel displacement closed-loop tracking circuit is constructed for the hydraulic actuators at each support point. In this embodiment, to ensure that asymmetric displacement commands can be accurately reproduced, the system sets a real-time displacement tracking error for the i-th support point. : ; In the formula, The first one extracted from the optimal displacement command set The target displacement increment of each support point; For displacement sensors installed at support points The actual displacement increment is fed back in real time. The proportional servo module 302 calculates the corresponding valve control voltage based on the error signal. : ; In the formula, This is the proportional gain coefficient; This refers to the integral gain coefficient. As a preferred method, the gain coefficient can be tuned using the critical proportional gain method combined with the response characteristics of the on-site hydraulic pump station. By introducing an integral element, the system can compensate for steady-state errors caused by static friction of the mechanical guide rails or hydraulic dead zones. The proportional servo module 302 dynamically adjusts the opening degree of the servo valves in each hydraulic circuit, driving the hydraulic pump station module 301 to output pressurized oil to the corresponding cylinder, thereby initiating the physical execution process.

[0077] In S802, the underlying actuator generates asymmetric displacement based on the flow distribution of the servo valve, causing the internal forces of the structure to evolve in the expected direction. It is understandable that during the transition phase, the target displacement increments Δxi,opt received by each support point typically differ. This controlled asymmetric displacement input superimposes localized differential compensation onto the overall sliding or lifting macroscopic movement of the connecting corridor structure. From a physics and mechanics perspective, the control behavior essentially utilizes the geometric flexibility of the connecting corridor components to actively adjust the relative spatial height of each support point, thereby altering the distribution ratio of gravity and additional loads in the multi-point support system. This mechanism helps to counteract the local stress concentration caused by abrupt changes in the stiffness of the support boundaries.

[0078] S803, the computing system 20, performs real-time monitoring and fault-tolerant intervention for physical anomalies during execution. In actual engineering scenarios, due to transient flow fluctuations in the hydraulic system or jamming of mechanical connecting parts, some support cylinders may not be able to strictly follow the theoretical control trajectory, resulting in excessive actual displacement deviation. Therefore, the system is equipped with a dynamic following tolerance band. and execution timeout threshold In this embodiment, The value is usually set based on the resolution of the displacement sensor and the maximum dynamic following error allowed by the hydraulic system, and the range is generally between 0.5mm and 2.0mm. The value is determined by the ratio of the maximum single-step displacement increment to the rated operating speed of the cylinder, and is usually taken as 5 to 10 seconds.

[0079] During the execution of the instruction, the computing system 20 synchronously verifies the absolute value of the real-time error of all support points. If the error at a certain support point exceeds a certain duration... Still greater than This indicates that the position may be physically jammed or interfered with by external structures. To address this anomaly and prevent destructive asymmetric torsion of the structure caused by continued operation of other cylinders due to a single-point jamming, the system will immediately trigger a global interlock protection mechanism. Specifically, the computing system 20 will simultaneously cut off the control voltage of all circuits, trigger all hydraulic lock-up valves to operate to maintain the full cylinder stroke, and report the execution obstruction status to the central control terminal, thereby mitigating the risk of global instability caused by a single-point failure at the underlying logic level.

[0080] S804, after the displacement command is executed smoothly and meets the target, the calculation system 20 then performs steady-state determination and ground-state update operations. When the displacement tracking error of all support points... All are continuously within the tolerance zone When the preset stabilization time window is reached, the system determines that the asymmetric displacement compensation action has been completed. In this embodiment, after the physical action is completed, the propagation of stress waves inside the structure and the closing of mechanical assembly gaps require a short stabilization period. During this period, the system maintains the position lock of each support point and instructs the strain acquisition module 103 to capture the current global static load strain distribution state. The updated state will be used as a new reference physical parameter for the logical judgment starting point of the next spatial discrete event cycle.

[0081] In this embodiment, a construction method for synchronous sliding and overall lifting of a steel structure corridor is presented. After the asymmetric displacement compensation action is completed and the local internal forces of the structure are effectively controlled, as the corridor gradually completes the physical transition from the sliding track to the flexible lifting cable, the mechanical boundary conditions of each support point will tend to stabilize again. At this point, the system needs to smoothly transition the underlying logic from the abnormal intervention mode with variable parameters back to the conventional synchronous control mode based on equal elevation constraints.

[0082] S901, the optimization calculation module 202 continuously monitors the global stiffness characteristic sequence and performs steady-state determination of the support boundary. In this embodiment, to avoid misjudgment caused by single sensor sampling noise or short-term mechanical vibration, the system establishes a stiffness gradient average value calculation model based on the moving time window: ; In the formula, For the first The mean of the stiffness gradient window at each event time; The sample size of the moving time window is typically 2 to 3 times the first-order natural period of the structure, and is generally set to 10 to 20 sampling events. This represents the absolute value of the stiffness gradient at the corresponding time. The optimization calculation module 202 will... Compared with the preset steady-state determination threshold Real-time comparison is performed. As a preferred method, a steady-state determination threshold is used. The calibration typically relies on the baseline stiffness data collected by the system under a single, conventional operating condition such as pure slip or pure lift, and is generally taken as 1% to 3% of the average steady-state stiffness of the system. When three consecutive calculations satisfy... At this point, the system determines that the physical boundary has fully entered a steady-state lifting condition and triggers the subsequent state regression sequence. To ensure the rigor of the algorithm logic, if the above judgment condition is not met after the preset maximum allowable transition time since entering the condition transition state, the system will actively stop automatic judgment, output a pressure maintenance command, and prompt the operator to conduct a manual on-site structural check to prevent the system from falling into a cyclic adjustment state.

[0083] S902, the optimization calculation module 202 performs the smooth convergence and reset operation of the control parameters. It is understandable that during the previous transition period, in order to release the internal forces of the structure, the system actively widens the displacement tolerance and dynamically adjusts the strain weights. Once the structure returns to steady state, directly resetting these parameters to their factory standard values ​​can easily trigger transient steps in the control commands, leading to transient pressure shocks in the hydraulic circuit. In this embodiment, the system uses a discrete exponential decay stage to guide the parameters to a smooth regression. Its physical principle lies in utilizing the smooth asymptotic characteristics of the natural exponential function to soften the contraction process of the control boundary. ; In the formula, This serves as the displacement tolerance for the next cycle. This represents the displacement tolerance for the current period. This is the preset standard synchronization accuracy threshold under normal enhancement mode; This is the convergence decay coefficient, typically ranging from 0.05 to 0.15. To control the discrete step length, it is typically consistent with the scan cycle of the programmable logic controller, ranging from 50ms to 100ms. Simultaneously, dynamic weighting coefficients for each monitoring node are... The system uses the same exponential decay formula to gradually converge to the initial weights. The mechanism allows the decision boundary to tighten gradually, reserving the necessary buffer response period for the physical actuators.

[0084] S903, the computing system 20 drives the underlying execution network to perform baseline alignment of the structural pose. During the boundary transition, the system implements asymmetric displacement intervention using a relaxed displacement tolerance domain, resulting in a certain relative elevation difference between the support points. Before officially switching back to the normal synchronization mode, the computing system 20 uses the position with the lowest elevation among the current support points as the alignment reference to generate a smooth displacement correction trajectory. The proportional servo module 302 drives the lagging hydraulic cylinders step by step to perform displacement compensation based on the correction trajectory.

[0085] To prevent internal force rebound during the elimination of asymmetric displacement, the system synchronously retrieves real-time feedback data from the strain acquisition module 103 for closed-loop monitoring while driving the hysteresis cylinder. If the strain increment at any monitoring node approaches 80% of the material's yield limit, the calculation system 20 will immediately reduce the displacement correction rate of the corresponding loop or trigger a temporary pause, resuming the alignment action only after the internal stress wave dissipates. This mechanism effectively avoids the risk of local stress exceeding limits that may occur due to forced displacement alignment. As the alignment action progresses, the absolute displacement difference of all support points eventually re-contracts to the standard synchronous accuracy. Within this range, the structure is restored to the horizontal position required by the design.

[0086] In step S904, the computing system 20 completes the switching of the main control logic and the update of the algorithm mode. After confirming that the global parameters have converged and the attitude alignment meets the requirements, the optimization calculation module 202 suspends the secondary programming optimization solution thread, and the computing system 20 switches the control mode back to the conventional multi-point displacement follow-up closed-loop state. Based on the updated unified elevation command, the proportional servo module 302 drives the hydraulic pump station module 301 into the steady-state lifting process.

[0087] This embodiment presents a construction method for synchronous sliding and overall lifting of a steel structure connecting corridor. To obtain multi-dimensional mechanical parameters of the structure during complex working condition transitions, the system is equipped with a multi-physical quantity fusion sensing system 10. The sensing system 10 is distributed at key nodes of the connecting corridor structure and the underlying actuator, and is responsible for converting the load, displacement, and strain states in the physical space into a synchronous digital time series that can be resolved by the computing system 20.

[0088] S1001, the system obtains the real-time stress state of each support point through the load sensing module 101. In this embodiment, considering the overall tonnage of the connecting corridor and the dynamic impact of the hydraulic circuit, the load sensing module 101 adopts a side-mounted high-frequency dynamic pressure transmitter or a built-in through-core pressure sensor. The sensor is usually connected in series in the main oil supply line between the hydraulic pump station module 301 and the rodless chamber of the cylinder to capture transient load fluctuations caused by the change of support medium. In actual engineering environments, the mechanical vibration of the hydraulic pump and the high-frequency switching of the servo valve can easily introduce periodic fluid pulsations in the oil circuit, and directly using the original sampled values ​​will lead to misjudgment by the calculation system. Therefore, the load sensing module 101 has a discrete exponential smoothing filter algorithm built into the hardware analog-to-digital conversion backend, the mathematical expression of which is: ; In the formula, For the first The effective load value output by each support point at time tt; These are the raw load readings collected by the sensor front end at the same time. This is the payload value from the previous sampling period; The hardware sampling period; These are the smoothing filter coefficients. As a preferred method, The value depends on the natural frequency of the hydraulic system and the signal-to-noise ratio, and is typically set between 0.15 and 0.30. Data preprocessing mechanisms help suppress high-frequency background noise while preserving the true characteristics of load abrupt changes.

[0089] S1002, the system utilizes the displacement sensing module 102 to collect absolute stroke data of the hydraulic actuator. To match the high-resolution control commands output by the optimization calculation module 202, the displacement sensing module 102 employs a magnetostrictive displacement sensor. This type of sensor calculates position using a non-contact waveguide principle and is installed in parallel on the exterior of each supporting cylinder or directly integrated inside the cylinder barrel. Compared to traditional draw-wire sensors, magnetostrictive sensors have smaller mechanical hysteresis errors. In construction sites with large temperature differences, the thermal expansion and contraction of metal components can introduce geometric deformation deviations. Therefore, before outputting the absolute displacement sequence, the displacement sensing module 102 performs linear expansion compensation based on the on-site temperature probe. ; In the formula, For the compensated first Actual displacement of each support point; This is the sensor's original position reading; This is the reference length of the effective measuring rod of the sensor; The linear expansion coefficient of the measuring rod material; The actual measured temperature in the current environment; The ambient reference temperature is used for the sensor's factory calibration. Through the above compensation logic, the displacement sensing module 102 shields the interference of ambient thermal effects on geometric displacement, ensuring the feedback accuracy of the closed-loop control loop.

[0090] S1003, the sensing system 10 monitors the local stress state of the connecting corridor structure using the strain acquisition module 103. In this embodiment, the strain acquisition module 103 includes a group of fiber Bragg grating strain sensors deployed at the mid-span section, the junction of variable sections, and the support ends of the main truss of the connecting corridor. When the structure undergoes stress deformation, the center wavelength of the FBG sensor will drift accordingly. Since the FBG has cross-sensitivity to mechanical strain and ambient temperature, the strain acquisition module 103 deploys temperature-compensated gratings, which are not constrained by mechanical stress, in parallel near each strain monitoring node. Its composite decoupling formula is as follows: ; In the formula, For the first The actual mechanical strain of each monitoring node; To measure the center wavelength shift of the grating feedback; The relative temperature difference is fed back by the temperature compensation grating at the same location; and These are the temperature sensitivity coefficient and strain sensitivity coefficient of the fiber optic sensor, respectively. These coefficients are typically provided by the sensor supplier with factory calibration values. Utilizing the photoelectric conversion of the fiber optic demodulator, the strain acquisition module 103 can convert microscale lattice deformation into microstrain usable in macroscopic engineering. The numerical values ​​provide boundary conditions for subsequent secondary planning optimization.

[0091] S1004, the sensing system 10 performs hard clock synchronization across heterogeneous buses. Considering that the acquisition sources of load, displacement, and strain data are distributed across different hardware buses, allowing each module to freely upload data would result in an unpredictable time phase difference between different physical quantities. This time-domain misalignment directly leads to distortion in the calculation of the dynamic stiffness matrix. To address this issue, the sensing system 10 is configured with an independent clock synchronization unit, which sends nanosecond-wide hardware trigger pulses to the load sensing module 101, displacement sensing module 102, and strain acquisition module 103 based on a master-slave clock architecture. Each sensor only locks the current analog-to-digital converter register value upon receiving the rising edge pulse and uniformly adds a global timestamp before packet uploading. This mechanism ensures absolute alignment of heterogeneous mechanical data in the time dimension, plugging logical loopholes in state perception from the hardware level.

[0092] This embodiment describes a construction method for the synchronous sliding and overall lifting of a steel structure connecting corridor. After the sensing system 10 completes the acquisition and synchronous encapsulation of physical quantities of the entire domain state, the relevant data streams are uniformly integrated into the computing system 20. The computing system 20, as the decision-making center of the control architecture, undertakes the tasks of unpacking underlying signals, calculating multi-dimensional stiffness matrices, and solving multi-objective optimization problems.

[0093] S1101, the computing system 20 adopts a heterogeneous multi-core processor architecture to adapt to the concurrent control requirements of industrial sites. In this embodiment, to balance the real-time response capability of the hardware interface with the complex floating-point operation requirements of the core algorithm, the computing system 20 is built on a collaborative architecture of field-programmable gate array (FPGA) and digital signal processor (DSP). The FPGA is responsible for managing the bus protocol stack between the FPGA and the sensing system 10, performing hardware decoding of the underlying data packets, timing verification, and direct memory access and transmission; the DSP runs a dedicated real-time operating system to support the optimization calculation module 202. Through hardware-level task decoupling, the architecture helps reduce the frequent preemption of core computing power by network communication interruptions, providing a computing power foundation for the stable operation of subsequent matrix operations.

[0094] S1102, the computing system 20 configures a circular buffer in system memory and performs outlier removal and cleaning on the reported data stream. In engineering implementation environments, the start-up and shutdown of high-power construction equipment can easily couple transient electromagnetic interference onto the communication bus, causing abrupt changes in the received state data that do not conform to the laws of mechanics. As a preferred approach, the computing system 20 incorporates a Laida criterion algorithm module to dynamically detect outliers in the time series within a sliding time window. Considering the structure's own first-order response frequency and the hardware sampling rate, the sample size of the sliding time window typically includes 20 to 50 recent valid sampling points. The effective load sequence reported by the load sensing module 101 is used as an example. For example, its distortion check formula is as follows: ; In the formula, This is the arithmetic mean of the support point load samples within the current sliding time window; This represents the standard deviation of the load samples within the corresponding time window. If the above inequality is determined to hold, the calculation system 20 will consider the current sampled data as invalid distortion points and remove them. For the data gaps remaining after removal, the system uses a forward first-order linear interpolation algorithm to generate estimated values ​​based on the slopes of the first two effective periods to fill them. This data preprocessing mechanism helps maintain the smoothness of the input parameter matrix and reduces the probability of drastic changes in control commands caused by individual extreme error values ​​being passed into the optimization algorithm.

[0095] S1103, the optimization calculation module 202 relies on the preemptive mechanism of the real-time operating system for multi-threaded scheduling and optimization solving. Within the computing system 20, business logic is subdivided into independent threads such as state monitoring, algebraic prediction, and quadratic programming optimization. In this embodiment, the system sets the quadratic programming optimization thread as the highest priority and allocates it with an independent on-chip cache. When a discrete event is triggered, the thread retrieves the cleaned structural state vector and performs stiffness update and constraint solving calculations.

[0096] To prevent the optimizer from getting stuck in an iterative non-convergence computational deadlock when facing extremely nonlinear boundary conditions, the computing system 20 is configured with an independent software watchdog timer outside the main control program. The system sets an upper limit on the time consumed in a single optimization calculation. Once the solution time exceeds the threshold, the watchdog mechanism will forcibly suspend the current computing thread and temporarily call the shift instructions from the previous cycle to maintain device operation. Furthermore, if the watchdog is triggered continuously more than a preset number of times, the system will determine that the current optimization environment has severely deteriorated. At this time, the computing system 20 immediately clears the instruction queue and outputs a zero-increment pressure holding instruction, thus avoiding the risk of blind device operation caused by long-term thread blocking at the architectural level and ensuring the security of the underlying physical device.

[0097] In step S1104, the computing system 20 converts the optimal displacement instruction set output by the optimization calculation module 202 into a low-level communication message and executes the monitoring and distribution. After confirming the instruction set method, the FPGA end of the computing system 20 repackages the digitized displacement increment according to the frame structure of the industrial bus protocol, adds a cyclic redundancy check code and a heartbeat count value, and then sends it to the proportional servo module 302. During continuous communication, the computing system 20 monitors the handshake response signal of the downlink bus in real time. If no feedback message is received from the proportional servo module 302 for three consecutive communication cycles, it is determined that the downlink has been physically disconnected or severely congested. At this time, the computing system 20 triggers a global communication fault interruption, bypassing the conventional optimization logic instruction hydraulic pump station module 301 to enter an emergency pressure holding and locking state, in order to reduce the probability of irreversible structural damage to the actuator in an uncontrolled state.

[0098] This embodiment describes a construction method for the synchronous sliding and overall lifting of a steel structure connecting corridor. After the computing system 20 completes its calculations and sends out communication messages, the underlying actions are implemented by a drive system comprising a hydraulic pump station module 301 and a proportional servo module 302. The drive system, acting as a bridge connecting the digital computing domain and the physical execution domain, is responsible for converting weak control electrical signals into mechanical hydraulic power to drive the large connecting corridor structure.

[0099] S1201, the proportional servo module 302 parses the control message and generates a pulse width modulation drive signal. The proportional servo module 302 extracts the signal allocated to the first... Target control voltage at each support point In this embodiment, industrial proportional valves are typically driven by electromagnetic coils. Directly inputting analog voltage is susceptible to line impedance issues and generates significant heat from the coil. To improve driving efficiency, the system uses a power switching circuit to convert the voltage command into a PWM signal with a corresponding duty cycle. To overcome the inherent mechanical dead zone of hydraulic valves, the conversion function is set as follows: ; In the formula, The duty cycle of the output PWM signal; The gain is the linear conversion from voltage to duty cycle. The preset dead-time compensation duty cycle; the sgn() sign function, used to calibrate the driving polarity of the coil. As a preferred method, the conversion gain... The dead-time compensation duty cycle is determined by the quotient of the microcontroller's PWM timer resolution and the maximum allowable control voltage; considering the manufacturing tolerances of the zero-position coverage of different hydraulic valve spools, the dead-time compensation duty cycle is... Calibration is typically performed during the no-load commissioning phase of the equipment by slowly increasing the drive signal until the hydraulic cylinder produces a small displacement, with the value generally between 5% and 15%. This dead-zone compensation mechanism helps overcome the static friction and overlapping dead zone of the valve core near the zero position, improving the actuator's response sensitivity to small displacement commands.

[0100] S1202, the drive system distributes hydraulic oil flow based on the dynamic opening of the valve spool. Under the thrust of the solenoid coil, the valve spool of the proportional servo valve undergoes mechanical displacement, thereby changing the throttling area of ​​the valve orifice. The actual flow rate entering the corresponding hydraulic cylinder... Following the flow characteristics of the throttling orifice in fluid dynamics: ; In the formula, The valve orifice flow coefficient; The valve orifice area gradient; The valve core displacement is related to the duty cycle of the input PWM. It exhibits an approximately first-order inertial response relationship; The density of the hydraulic oil; The main pipeline oil supply pressure provided to the hydraulic pump station module 301; For the first The actual load pressure borne by each hydraulic cylinder. and Typically, the factory calibration parameters provided by the valve body manufacturer are used directly, or the parameters are obtained through constant pressure flow measurement on a hydraulic test bench.

[0101] The physical model shows that the extension and retraction speed of a single hydraulic cylinder is controlled not only by the valve core displacement, but also by the transient physical load at the current support point. The reverse constraint. It is particularly important to note that if local structural stress concentration leads to... The surge in oil supply pressure has approached or even surpassed that of other oil suppliers. The hydraulic cylinder may retract uncontrollably. To prevent this risk of load backflow, an externally controlled balance valve is connected in series at the inlet of the bearing chamber of each branch hydraulic cylinder. When the system oil supply pressure difference is insufficient to maintain the expected movement, the balance valve will automatically throttle or lock, thereby ensuring the unidirectional movement stability of the hydraulic cylinder under heavy load conditions in the underlying fluid circuit.

[0102] S1203, the hydraulic pump station module 301 provides constant pressure power output according to pipeline network requirements and implements underlying hard-wired safety interlocks. During the multi-point asymmetric displacement intervention stage, the stroke and speed of each cylinder differ, causing drastic fluctuations in the transient flow demand of the pipeline. In this embodiment, the hydraulic pump station module 301 uses a constant pressure variable pump as the main control power source. When the pipeline flow demand increases, causing the main pipeline oil supply pressure Ps to decrease, the variable pump automatically increases the swashplate angle to increase the displacement; conversely, it decreases the displacement. The mechanical closed-loop mechanism helps to control the main pipeline pressure fluctuation within ±5% of the set value, alleviating the oil supply delay caused by the simultaneous start-up of multiple cylinders.

[0103] Considering that the computing system 20 may encounter unforeseen communication congestion or computation timeouts, the hydraulic pump station module 301 is equipped with pilot-operated relief valves and two-way hydraulic locks independent of the digital communication bus in the main oil circuit and each branch oil circuit. If the load pressure at a certain support point... If the safety threshold set by the relief valve is exceeded, the relief valve will mechanically open to unload the load, protecting the pipeline and structure from overpressure damage. Simultaneously, if the underlying drive circuit loses power, the electromagnetic directional valve will return to its center due to spring force, triggering the two-way hydraulic lock to close. This seals the high-pressure oil within the cylinder cavity, ensuring the connecting corridor structure is safely suspended and compensating for the control blind spot of the software algorithm in the event of a physical power outage.

[0104] S1204, the actuator completes the electro-hydraulic energy conversion and physical displacement output. Controlled high-pressure oil enters the working chamber of the hydraulic cylinder, pushing the piston rod to produce a linear displacement increment. The displacement parameter is then captured by the displacement sensing module 102 and fed back to the computing system 20, thereby closing the entire hardware control loop.

[0105] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A construction method for synchronous sliding and overall lifting of a steel structure corridor, implemented through a collaborative control system, wherein the collaborative control system includes a sensing system, a computing system, and a drive system, characterized in that... Includes the following steps: S1: The real-time load data, absolute travel data, and local strain data of each support point of the connecting corridor structure are obtained through the sensing system. S2: The calculation system calculates the local stiffness change characteristics of each support boundary based on the real-time load data and absolute travel data to determine whether the connecting corridor structure has entered the working condition transition period from rigid sliding track to flexible lifting rigging. S3: When it is determined that the working condition transition period has begun, the calculation system generates an asymmetric displacement command based on local strain data, preloaded prior flexibility matrix and flexibility prediction model, and drives each support point to perform asymmetric displacement adjustment according to the asymmetric displacement command through the drive system in order to release the local stress of the corridor structure. S4: During the asymmetric displacement adjustment process, the local stiffness change characteristics are continuously monitored. When it is determined that the connecting corridor structure has returned to a steady state, the pose alignment is performed based on the support point with the lowest current elevation, and the system is switched to the equal elevation synchronous control mode to complete the overall lifting.

2. The construction method for synchronous sliding and overall lifting of a steel structure corridor according to claim 1, characterized in that, In step S1, the sensing system includes a clock synchronization unit, which sends hardware trigger pulses to the load sensing module, displacement sensing module and strain acquisition module distributed on different buses, so that each module can synchronously lock the current data when it receives the hardware trigger pulse and uniformly add a global timestamp to the acquired real-time load data, absolute travel data and local strain data before packet uploading.

3. The construction method for synchronous sliding and overall lifting of a steel structure corridor according to claim 1, characterized in that, In step S2, the computing system includes a signal processing module and an optimization calculation module; The signal processing module calculates the real-time displacement change of each support point based on the absolute travel data, and triggers a stiffness calculation event when the real-time displacement change reaches a preset spatial displacement trigger threshold. After being triggered, the optimization calculation module calculates the real-time stiffness gradient based on the real-time load data and absolute travel data, and calculates the average value of the absolute value of the stiffness gradient within the travel time window to obtain the stiffness gradient window mean. The optimization calculation module compares the stiffness gradient window mean with a preset steady-state determination threshold. If the stiffness gradient window mean is greater than the steady-state determination threshold, it determines that the working condition transition period has begun. If the results of multiple consecutive calculations show that the stiffness gradient window mean is less than or equal to the steady-state determination threshold, it determines that the working condition has been restored.

4. The construction method for synchronous sliding and overall lifting of a steel structure connecting corridor according to claim 1, characterized in that, In step S3, the calculation system includes an optimization calculation module. After determining that the working condition transition period has begun, the optimization calculation module adaptively relaxes the displacement tolerance domain for the geometric synchronicity between each support point, retrieves the preloaded a priori compliance matrix, maps the virtual trial displacement vector to the theoretical strain increment of each monitoring node, and then combines local strain data to establish a quadratic programming objective function containing a weighted strain energy term and a control increment penalty term and performs optimization to solve it. The output is a multivariate control vector containing negative and positive displacement increments as the asymmetric displacement command.

5. The construction method for synchronous sliding and overall lifting of a steel structure corridor according to claim 1, characterized in that, In step S3, the drive system extracts the target control voltage allocated to the corresponding support point, converts the target control voltage into a pulse width modulation signal, superimposes a preset dead-zone compensation duty cycle onto the pulse width modulation signal, and then outputs the pulse width modulation signal after dead-zone compensation to the hydraulic drive circuit to adjust the flow rate entering the corresponding hydraulic cylinder.

6. The construction method for synchronous sliding and overall lifting of a steel structure corridor according to claim 5, characterized in that, The drive system includes a proportional servo module and a hydraulic drive circuit; The proportional servo module is used to convert the target control voltage into a pulse width modulation signal and to superimpose the dead zone compensation duty cycle onto the pulse width modulation signal. An externally controlled balance valve is connected in series at the inlet of the bearing chamber of each branch hydraulic cylinder of the hydraulic drive circuit. When the local structure experiences a sudden increase in force, causing the actual load pressure to approach or exceed the oil supply pressure, the externally controlled balance valve automatically throttles or locks.

7. The construction method for synchronous sliding and overall lifting of a steel structure corridor according to claim 1, characterized in that, Before performing step S2 to calculate the local stiffness variation characteristics of each support boundary, the process also includes a data cleaning step for the real-time load data: establishing a sliding time window, calculating the arithmetic mean and standard deviation of the load samples within the current sliding time window; calculating the absolute value of the deviation between the real-time load data at the current moment and the arithmetic mean, and if the absolute value of the deviation is greater than three times the standard deviation, then the real-time load data at the current moment is determined to be an invalid distortion point and is removed; using the numerical slope of the first two effective sampling periods to perform forward first-order linear interpolation to generate an estimated value to fill the data gaps after removal.

8. The construction method for synchronous sliding and overall lifting of a steel structure corridor according to claim 1, characterized in that, Before executing step S1, the system also includes a step of configuring initial parameters through the computing system: loading the prior compliance matrix and setting the spatial displacement trigger threshold, while assigning initial weight coefficients to each monitoring node. Furthermore, when performing step S2, a stiffness calculation event is triggered when the cumulative displacement increment reaches the spatial displacement trigger threshold; the spatial displacement trigger threshold ranges from 0.5 mm to 2.0 mm.

9. The construction method for synchronous sliding and overall lifting of a steel structure corridor according to claim 1, characterized in that, During the execution of step S3, the computing system of the collaborative control system is externally configured with a software watchdog timer and a global communication fault interruption mechanism: a time limit is set for a single optimization calculation. When the solution time exceeds the time limit, the software watchdog timer suspends the current calculation thread and calls the displacement command of the previous cycle to maintain the operation of the device. If the software watchdog timer triggers more than the preset number of times consecutively, or if the downlink communication bus does not receive feedback messages from the physical execution module for several consecutive cycles, the system directly outputs a zero-increment command and triggers the pilot-operated relief valve and bidirectional hydraulic lock in the underlying hydraulic circuit to enter an emergency locking state.

10. The construction method for synchronous sliding and overall lifting of a steel structure corridor according to claim 1, characterized in that: In step S4, when switching to the equal elevation synchronous control mode, the step of smoothing the convergence of control parameters is also included: using a discrete form of exponential decay function, the displacement tolerance and strain weight coefficient relaxed during the working condition transition period are gradually and smoothly converged to the preset standard synchronization accuracy threshold and initial weight. In step S4, pose alignment is performed based on the support point with the lowest current elevation. Specifically, this includes: generating a smooth displacement correction trajectory, driving the hydraulic cylinder with stroke lag to perform positive displacement compensation, and simultaneously monitoring the local strain data of the corresponding node. If the strain increment approaches the preset material yield limit, the displacement correction rate is reduced or the action is paused.

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