A dynamic balance intelligent control system for a landing holding pole of an extra-high voltage tower assembly

Abstract

The present application relates to the technical field of dynamic balance intelligent control. The present application relates to a dynamic balance intelligent control system for a landing holding pole of an ultra-high voltage tower assembly. The system comprises a data acquisition module, a model construction module, a boundary generation module, a strategy generation module and a closed-loop control module. The data acquisition module is used to acquire multi-source state data of the holding pole foundation, the holding pole body, the cable wind rope, the lifting rigging, the tower material hoisting piece and the working environment. By unifying the holding pole inclination angle, the top displacement, the cable wind rope tension, the spatial position of the tower material hoisting piece, the winch operation state and the wind speed and direction into the same construction coordinate system, the problems of scattered existing site monitoring data, inconsistent coordinates and single-point reading difficult to reflect the overall balance state are solved. The system can identify the dynamic imbalance tendency through the tension change rate, the holding pole yaw speed and the center of gravity offset trend before the hoisting piece has obvious swing, and realize early adjustment.

Description

Technical Field

[0001] This invention relates to the field of dynamic balance intelligent control technology, and more specifically, to a dynamic balance intelligent control system for ground-mounted gantry erection of ultra-high voltage transmission towers. Background Technology

[0002] Ultra-high voltage (UHV) transmission line projects are typically characterized by large tower dimensions, heavy components, complex construction sites, and high-risk high-altitude operations. Ground-mounted gantry cranes, commonly used lifting and support equipment during tower erection, typically consist of the gantry crane body, gantry crane base, guy ropes, pulley blocks, winch, lifting point slings, and temporary fixing structures. During the hoisting of tower sections, crossarm sections, ground wire supports, and other components, the gantry crane must simultaneously withstand the weight of the hoisted components, the tension of the guy ropes, wind load disturbances, winch traction, and transient impact loads generated during construction operations. These loads exhibit significant time-varying and coupling characteristics. Abnormal tension in one side of the guy ropes, deviation of the hoisted component's center of gravity from the hook's plumb line, or asynchronous winch traction can all lead to gantry crane swaying, amplified component swing, tower collisions, or even overall instability.

[0003] In existing construction methods, the balance control during the ground-mounted pole erection process largely relies on the experience of construction personnel, single-point tension gauge readings, on-site commands, and manual observation. While this can meet the needs of conventional tower erection operations to a certain extent, it has three shortcomings when dealing with large-tonnage components for ultra-high voltage towers, high-altitude hoisting, and multi-winch coordinated operations: First, the status acquisition dimensions are insufficient, making it difficult to simultaneously reflect the coupling relationship between the pole posture, guy rope tension, hoisting sway, environmental wind load, and winch response. Second, the control and judgment are delayed. On-site personnel usually make adjustments only after the boom is visibly swaying or the suspended parts are obviously swinging, lacking the ability to identify early dynamic imbalance trends. Third, the execution strategy lacks coordination. Adjusting a single winch or guy rope may improve local indicators in a short time, but it may increase torque imbalance in another direction, leading to secondary swaying or sudden increase in tension. To reduce this situation, a dynamic balance intelligent control system for ground-mounted gantry erection of UHV towers is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a dynamic balance intelligent control system for the erection of ultra-high voltage transmission towers, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, a dynamic balance intelligent control system for ground-mounted gantry erection of ultra-high voltage transmission towers is provided, including a data acquisition module, a model building module, a boundary generation module, a strategy generation module, and a closed-loop control module. The data acquisition module is used to acquire multi-source status data of the gantry foundation, gantry body, guy ropes, lifting slings, tower material lifting parts and the working environment, and generate an assembly constraint dataset of the ground gantry assembly scenario based on the multi-source status data. The model building module is used to construct a coupled force model between the gantry, guy ropes and tower lifting components based on the multi-source state data and assembly constraint dataset, and to determine the gantry attitude deviation, guy rope tension deviation and tower lifting component center of gravity offset. The boundary generation module is used to determine the dynamic equilibrium state based on the coupled force model and generate equilibrium constraint boundaries that include the attitude safety domain, tension safety domain, and hoisting path safety domain. The strategy generation module is used to generate a coordinated control strategy for winch traction, guy rope tension, lifting point traction, and lifting speed when the dynamic equilibrium state approaches or exceeds the equilibrium constraint boundary. The closed-loop control module is used to send the cooperative control strategy to the actuator and collect execution feedback. It then uses the feedback data to correct the coupled force model and the cooperative control strategy, forming a dynamic balance closed-loop control for the landing pole. As a further improvement to this technical solution, the data acquisition module includes multi-source status data such as pole tilt angle data, pole top displacement data, pole base settlement data, tension data of each guy rope, coordinates of guy rope anchor points, weight data of tower lifting components, lifting point location data, winch operation data, wind speed and direction data, and construction video recognition data. Specifically, tilt angle data of the gantry is obtained by tilt sensors installed at the bottom, middle and top sections of the gantry; tension data of each guy rope is obtained by tension sensors; and displacement data of the top of the gantry and spatial position data of the tower material lifting components are obtained by positioning or ranging devices.

[0006] As a further improvement to this technical solution, the assembly constraint dataset includes pole base constraints, guy rope anchoring constraints, pulley block ratio constraints, lifting point connection constraints, tower assembly sequence constraints, and restricted space constraints. The system uses the center of the pole base as the origin of the construction coordinate system, and uses the tower leg direction, line direction and vertical direction as the coordinate axis directions, and converts the data of each sensor to the same construction coordinate system.

[0007] As a further improvement to this technical solution, the coupled force model in the model construction module includes an equivalent rigid body model of the gantry, a guy rope tension vector model, a tower lifting component center of gravity model, and a wind load disturbance model. Among them, the equivalent rigid body model of the gantry represents the gantry posture with the center of the gantry base, the top node of the gantry, and the intermediate connection node; the guy rope tension vector model represents the constraint effect of the guy rope on the gantry with the direction vector and tension value from each anchor point to the gantry connection point; and the tower lifting component center of gravity model represents the moment effect of the lifting load on the gantry with the weight of the lifting component, the coordinates of the lifting point, and the coordinates of the center of gravity.

[0008] As a further improvement to this technical solution, the pole posture deviation includes the pole tilt angle deviation and the pole top displacement deviation; the guy rope tension deviation includes the relative tension deviation of a single guy rope, the tension difference of symmetrical guy ropes, and the tension change rate; the tower material lifting component center of gravity offset includes the horizontal offset of the lifting component center of gravity relative to the vertical line of the hook and the swing speed of the lifting component. Specifically, the deviations are combined into a dynamic equilibrium state vector, and the dynamic equilibrium state vector is used as the input for the equilibrium state determination in the boundary generation module.

[0009] As a further improvement to this technical solution, in the boundary generation module, the balance constraint boundary is jointly determined by the construction stage, lifting component type, gantry height, guy rope arrangement, and real-time wind load level. Specifically, when the gantry attitude deviation, guy rope tension deviation, or lifting path deviation does not reach the corresponding safety threshold, the dynamic balance state is determined to be a stable balance state. When any deviation reaches the warning threshold but not the shutdown threshold, the dynamic balance state is determined to be an offset adjustment state. When any deviation reaches the shutdown threshold or different deviation combinations meet the interlocking conditions, the dynamic balance state is determined to be a risk suppression state.

[0010] As a further improvement to this technical solution, the strategy generation module includes a cooperative control strategy comprising a winch traction speed adjustment strategy, a guy rope tension adjustment strategy, a lifting point traction direction adjustment strategy, a lifting pause strategy, and an alarm interlock strategy. The system first generates candidate control strategies based on the dynamic equilibrium state vector, then verifies whether the candidate control strategies will cause the lifting component to enter a restricted space or cause any guy rope to exceed its allowable tension based on the assembly constraint dataset. After successful verification, the final cooperative control strategy is output.

[0011] As a further improvement to this technical solution, the actuator includes a frequency converter winch, an electric tensioning device for guy ropes, a hydraulic braking device, a lifting point guiding traction device, and a safety interlock controller; wherein, the frequency converter winch receives traction speed commands, the electric tensioning device for guy ropes receives tension increment commands, the hydraulic braking device receives pause or slow stop commands, and the safety interlock controller switches the lifting action to a restricted action or a stop action in a risk suppression state.

[0012] As a further improvement to this technical solution, the closed-loop control module includes control command issuance time, actuator response time, actual hoisting speed, actual tension force, boom posture change, and hoist swing change. The system calculates the control effectiveness based on the execution feedback. When the control effectiveness is less than the set value, the system corrects the wind load coefficient, friction coefficient, pulley block efficiency coefficient, or guy rope equivalent stiffness coefficient in the coupled force model and regenerates the collaborative control strategy.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This intelligent control system for the dynamic balance of ground-mounted gantry erection of ultra-high voltage (UHV) transmission towers solves the problems of scattered on-site monitoring data, inconsistent coordinates, and difficulty in reflecting the overall balance state from single-point readings by unifying gantry tilt angle, top displacement, guy rope tension, spatial position of tower lifting components, winch operating status, and wind speed and direction into a single construction coordinate system. The system can identify dynamic imbalance tendencies before significant swaying of the lifting components by measuring the tension change rate, gantry sway speed, and center of gravity shift trend, enabling early adjustments.

[0014] 2. In this intelligent dynamic balance control system for ground-mounted gantry erection of ultra-high voltage (UHV) transmission towers, a coupled force model of the gantry, guy ropes, and tower lifting components is established. The attitude safety domain, tension safety domain, and lifting path safety domain are used as balance constraint boundaries, transforming risk assessment from a single threshold alarm to a multi-dimensional comprehensive judgment. This approach avoids overlooking situations where a single indicator has not yet exceeded its limit but the combination of multiple indicators is already close to a dangerous state, and also prevents false shutdowns caused by instantaneous fluctuations in a single sensor.

[0015] 3. In this intelligent dynamic balance control system for ground-mounted gantry erection of ultra-high voltage transmission towers, the coordinated control of winch traction, guy rope tension, lifting point guidance, and lifting speed avoids the problem of secondary imbalance caused by manual adjustment of a single piece of equipment. When generating a strategy, the system simultaneously verifies restricted space, allowable guy rope tension, and lifting path safety, ensuring that the output strategy not only reduces the current deviation but also does not introduce new construction risks. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a dynamic balance intelligent control system for ground-mounted scaffolding of ultra-high voltage transmission towers according to the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1 As shown, the purpose of this embodiment is to provide a dynamic balance intelligent control system for the ground-mounted gantry erection of ultra-high voltage iron towers, including a data acquisition module, a model building module, a boundary generation module, a strategy generation module, and a closed-loop control module. The data acquisition module is used to acquire multi-source state data of the gantry foundation, gantry body, guy ropes, lifting slings, tower lifting components and the working environment, and generate an assembly constraint dataset for the gantry assembly scenario based on the multi-source state data.

[0019] In the data acquisition module, the multi-source status data includes pole tilt angle data, pole top displacement data, pole base settlement data, tension data of each guy rope, coordinates of guy rope anchor points, weight data of tower material lifting components, lifting point location data, winch operation data, wind speed and direction data, and construction video recognition data. Specifically, tilt angle data of the gantry is obtained by tilt sensors installed at the bottom, middle and top sections of the gantry; tension data of each guy rope is obtained by tension sensors; and displacement data of the top of the gantry and spatial position data of the tower material lifting components are obtained by positioning or ranging devices.

[0020] The assembly constraint dataset includes constraints for the gantry base, guy rope anchorage, pulley block ratio, lifting point connection, tower assembly sequence, and restricted space. The system uses the center of the pole base as the origin of the construction coordinate system, and uses the tower leg direction, line direction and vertical direction as the coordinate axis directions, and converts the data of each sensor to the same construction coordinate system.

[0021] First, an attitude acquisition structure is installed on the pole body. Specifically, a first tilt sensor is installed near the bottom section of the pole, a second tilt sensor is installed in the middle section, and a third tilt sensor is installed near the top of the pole or the top connecting frame. The three tilt sensors are used to acquire the tilt angle of the pole at different heights. By using the tilt angle data from the three locations, it can be determined whether the pole is tilted as a whole or bent and deviated locally. For example, if the tilt angles of the bottom and middle sections are small while the tilt angle of the top section is significantly increased, it can be determined that the deviation mainly occurs in the top stress section; if the tilt angles at all three locations increase simultaneously, it can be determined that the pole is deviated as a whole.

[0022] Tension sensors are installed at the anchor ends of the guy ropes or between the guy ropes and the tensioning device. For a four-way guy rope arrangement, the tension of the front, rear, left, and right guy ropes is collected separately; for an eight-way guy rope arrangement, the tension of the diagonal guy ropes (left-front, right-front, left-rear, and right-rear) is further collected. The tension sensor output is not used in isolation for alarm purposes, but rather forms a tension vector together with the coordinates of the guy rope anchor points. In other words, the "guy rope tension data" in the instruction manual specifically consists of the tension sensor values, anchor point coordinates, and pole connection point coordinates.

[0023] The spatial positions of the top of the gantry, hook, key points of the tower lifting components, and temporary traction points are obtained through positioning devices. These positioning devices can be total stations, laser rangefinders, BeiDou / GNSS positioning devices, visual positioning devices, or combinations thereof. When obstructions in the UHV tower construction area lead to insufficient satellite positioning accuracy, total stations or laser rangefinders are preferred; when the construction site is open and continuous tracking of the lifting components' trajectory is required, a combination of positioning devices and video recognition devices is used.

[0024] The construction video recognition device is installed at ground monitoring points, the erected tower section, and the visible area of ​​the gantry operation. It is used to identify the outline of the lifting components, the direction of their swing, the distance between the lifting components and tower components, and prohibited construction areas. Unlike ordinary video surveillance, the video recognition data in this embodiment is converted into calculable lifting path boundaries. For example, it identifies the minimum distance between the outer end of the crossarm and the inclined members of the erected tower. When this distance is lower than a set value, the safety domain of the lifting path is compressed, and the subsequent S4 control strategy must prioritize preventing further swing in that direction.

[0025] Establish a construction coordinate system. Using the center of the gantry base as the origin, construct a three-dimensional coordinate system with the line direction, horizontal line direction, and vertical direction as the axes. If the construction organization requires the use of the tower leg coordinate system, transform the tower leg coordinate system to the gantry construction coordinate system using a coordinate transformation matrix. The fields of the assembly constraint dataset include: tower type number, construction stage number, gantry height, gantry rated load-bearing parameters, gantry allowable tilt angle, gantry base center coordinates, coordinates of each guy rope anchor point, initial tension of each guy rope, tower material lifting component number, lifting component weight, lifting point coordinates, center of gravity coordinates, pulley block ratio, winch number, restricted space boundary, and permitted control permissions.

[0026] When hoisting crossarm segments of an ultra-high voltage (UHV) tower, the construction management system inputs the weight of the crossarm segment as G, with the lifting points located at two points on the upper chord of the segment, and the center of gravity coordinates offset outward relative to the line connecting the two lifting points. The weight of the segment, the coordinates of the lifting points, the center of gravity offset, and the allowable swing angle are written into the assembly constraint dataset. Subsequently, when the video recognition device detects the outward swing of the outer end of the crossarm, it can determine whether the swing is consistent with the direction of the center of gravity offset and transmit this information to S2 for coupled force calculation.

[0027] The model building module is used to construct a coupled force model between the gantry, guy ropes and tower lifting components based on multi-source state data and assembly constraint dataset, and to determine the gantry attitude deviation, guy rope tension deviation and tower lifting component center of gravity offset.

[0028] In the model construction module, the coupled force model includes the equivalent rigid body model of the gantry, the guy rope tension vector model, the tower lifting component center of gravity model, and the wind load disturbance model. Among them, the equivalent rigid body model of the gantry represents the attitude of the gantry by the center of the gantry base, the top node of the gantry, and the intermediate connection node; the guy rope tension vector model represents the constraint effect of the guy rope on the gantry by the direction vector and tension value from each anchor point to the gantry connection point; and the tower lifting component center of gravity model represents the moment effect of the lifting load on the gantry by the weight of the lifting component, the coordinates of the lifting point, and the coordinates of the center of gravity. The deviation of the gantry posture includes the deviation of the gantry tilt angle and the deviation of the gantry top displacement; the deviation of the guy rope tension includes the relative deviation of the tension of a single guy rope, the tension difference of symmetrical guy ropes and the tension change rate; the offset of the center of gravity of the tower lifting component includes the horizontal offset of the center of gravity of the lifting component relative to the vertical line of the hook and the swing speed of the lifting component. Specifically, the deviations are combined into a dynamic equilibrium state vector, which is then used as the input for equilibrium state determination in the boundary generation module.

[0029] Based on the assembly constraint dataset and real-time status data obtained from the data acquisition module, a coupled force model is constructed between the gantry, guy ropes, and tower lifting components. The gantry is not simply regarded as a single vertical member, but is equivalent to a rigid-flexible coupled structure composed of base nodes, intermediate nodes, and top nodes; the guy ropes are not simply regarded as fixed tension, but are represented as a tension vector pointing from the anchor point to the gantry connection point; the tower lifting components are not simply regarded as point loads under the hook, but are represented as lifting loads with lifting points, centers of gravity, and swing velocities.

[0030] To calculate the pole posture deviation, let the design axis direction of the pole be Z0, the real-time axis direction of the pole be Zt, and the angle between the two be the pole tilt angle deviation; let the design position of the top of the pole be P0, and the real-time position be Pt, then the top displacement deviation is the distance between P0 and Pt.

[0031] To avoid misjudgment due to single measurement error, the attitude data from multiple consecutive sampling periods are smoothed and the attitude change rate is calculated.

[0032] When the rate of attitude change continues to increase, even if the instantaneous tilt angle has not yet reached the alarm threshold, it can enter the offset adjustment state in advance.

[0033] Calculate the tension deviation of the guy ropes. For each guy rope, record the initial tension, real-time tension, and allowable tension, and calculate the relative deviation of a single guy rope. For guy ropes arranged opposite each other, calculate the symmetrical tension difference. For example, the front guy rope and the rear guy rope form one set of equilibrium relationships, and the left guy rope and the right guy rope form another set of equilibrium relationships. If the tension increases in one direction while the tension in the opposite direction decreases, this change indicates that the top of the gantry may be shifting towards the direction of higher tension or that the lifting device may be swinging in that direction.

[0034] The center of gravity offset of the tower lifting component is calculated. This offset includes horizontal offset and swing velocity. Horizontal offset is determined by the distance between the projection point of the component's center of gravity and the vertical line of the hook, while swing velocity is determined by the change in the center of gravity position at continuous sampling times. For long tower components, the end posture of the lifting component is also extracted using a video recognition device to avoid ignoring the risk of end collisions while only tracking the center of gravity.

[0035] A wind load disturbance model is introduced. Wind speed and direction sensors acquire real-time wind load direction, and the wind load effect is calculated based on the windward area of ​​the gantry, the windward area of ​​the hoisting components, the hoisting height, and the wind load coefficient. Since wind load disturbances act simultaneously on both the gantry and the hoisting components, the coupled force model needs to separately consider the wind load moment of the gantry itself and the wind load swaying moment of the hoisting components.

[0036] deviation in pole-holding posture guy rope tension deviation , offset of the center of gravity of the lifting component Wind-borne disturbance Combined into a dynamic equilibrium state vector This state vector is not the final alarm result, but rather the input for the boundary generation module to determine the balance constraint boundary. Thus, the "determination of the pole posture deviation, guy rope tension deviation, and tower material lifting component center of gravity offset" mentioned in the instructions is calculated jointly by tilt angle, displacement, tension, lifting point coordinates, center of gravity coordinates, and wind load data.

[0037] The boundary generation module is used to determine the dynamic equilibrium state based on the coupled force model and generate equilibrium constraint boundaries that include the attitude safety domain, tension safety domain, and hoisting path safety domain. In the boundary generation module, the balance constraint boundary is determined by the construction stage, lifting component type, gantry height, guy rope arrangement, and real-time wind load level. Specifically, when the gantry attitude deviation, guy rope tension deviation, or lifting path deviation does not reach the corresponding safety domain threshold, the dynamic balance state is determined to be a stable balance state. When any deviation reaches the warning threshold but does not reach the shutdown threshold, the dynamic balance state is determined to be an offset adjustment state. When any deviation reaches the shutdown threshold or different deviation combinations meet the interlocking conditions, the dynamic balance state is determined to be a risk suppression state.

[0038] Balance constraint boundaries are generated based on the construction stage and the type of lifting components. Specifically, during the tower leg section erection stage, the lifting height is relatively low, and the overturning moment of the lifting components on the mast is relatively small, so a relatively wide attitude safety domain can be adopted; during the crossarm lifting stage, the lifting components are long, have a large windward area, and their ends are easily close to the tower components, so the lifting path safety domain is set more strictly; during the high-altitude closure stage, both the attitude safety domain and the tension safety domain are tightened simultaneously to reduce closure deviation.

[0039] The attitude safety domain is used to limit the pole tilt angle, top displacement, and yaw rate. A first threshold and a second threshold are set for each construction stage. The first threshold corresponds to the warning boundary, and the second threshold corresponds to the shutdown or slow-stop boundary. When the real-time attitude deviation is below the first threshold, it is in a stable equilibrium state; when the real-time attitude deviation exceeds the first threshold but is below the second threshold, it is in a deviation adjustment state; when the real-time attitude deviation exceeds the second threshold, it is in a risk suppression state.

[0040] The tension safety range is used to limit the tension of a single guy rope, the tension difference between symmetrical guy ropes, and the rate of tension change. Monitoring only whether a single guy rope exceeds its allowable tension is insufficient, because in dynamic hoisting, even before the tension exceeds the allowable value, the symmetrical tension difference can already cause the boom to deflect. Therefore, this embodiment uses three types of indicators simultaneously: absolute tension, relative tension difference, and rate of tension change.

[0041] The hoisting path safety domain is used to limit the movement path of the hoisted components. A restricted space boundary is generated based on the assembled tower components, the gantry body, temporary guy wires, restricted areas for construction personnel, and the location of ground equipment. When the hoisted component's outline enters within a certain range of the restricted space boundary, the control strategy in the corresponding direction is set to restricted to prevent the hoisted component from moving towards obstacles in order to restore tension balance.

[0042] The dynamic equilibrium state can be determined using the comprehensive risk value R: Where N represents normalization, and a, b, c, and d are weighting coefficients, which are adjusted according to the construction stage. During the crossarm hoisting stage, c and d have higher weights; during the tower vertical lifting stage, a and b have higher weights. When R exceeds the warning threshold, the system enters the offset adjustment state; when R exceeds the shutdown threshold or any single indicator reaches the interlocking condition, the system enters the risk suppression state.

[0043] When the crossarm was raised to near the tower connection height, the wind speed suddenly increased, and the rate of change of displacement at the top of the derrick increased, but the tension of the single guy rope had not yet exceeded the allowable value. Traditionally, the raising might continue, but because this method simultaneously calculates wind load disturbance and the rate of change of top displacement, it classifies this state as an offset adjustment state and requests an earlier reduction in winch speed and adjustment of the guide traction direction.

[0044] The strategy generation module is used to generate a coordinated control strategy for winch traction, guy rope tension, lifting point traction, and lifting speed when the dynamic equilibrium state approaches or exceeds the equilibrium constraint boundary. In the strategy generation module, the collaborative control strategies include winch traction speed adjustment strategy, guy rope tension adjustment strategy, lifting point traction direction adjustment strategy, lifting pause strategy, and alarm interlock strategy. The system first generates candidate control strategies based on the dynamic equilibrium state vector, and then verifies whether the candidate control strategies will cause the lifting parts to enter the restricted space or cause any guy rope to exceed the allowable tension based on the assembly constraint dataset. After the verification is passed, the final collaborative control strategy is output.

[0045] The actuators include a variable frequency winch, an electric tensioning device for guy ropes, a hydraulic braking device, a lifting point guiding traction device, and a safety interlock controller. The variable frequency winch receives traction speed commands, the electric tensioning device for guy ropes receives tension increment commands, the hydraulic braking device receives pause or slow stop commands, and the safety interlock controller switches the lifting action to a restricted action or a stop action in a risk suppression state.

[0046] When the dynamic equilibrium state approaches or exceeds the equilibrium constraint boundary, instead of directly outputting a single control action, a multi-actuator collaborative control strategy is generated based on the source of the deviation. The collaborative control strategy includes adjusting the winch traction speed, adjusting the guy rope tension, adjusting the lifting point guide traction direction, pausing or slowing down the lifting operation, and audible and visual alarm interlocks.

[0047] First, identify the source of the deviation. If the deviation of the gantry posture is in the same direction as the increase in tension of the guy rope on one side, and the center of gravity of the suspended component shifts slightly, then the main source of the deviation can be determined to be uneven tension of the guy rope or changes in the anchorage boundary; if the deviation of the gantry posture is small but the center of gravity of the suspended component shifts and the swing speed is large, then the main source of the deviation can be determined to be the swing of the suspended component; if the wind load disturbance index increases rapidly, and both the gantry and the suspended component shift in the same direction, then the main source of the deviation can be determined to be a sudden change in external wind load.

[0048] When generating candidate control strategies, control priorities are set according to the source of deviation. For cable tension imbalance, priority is given to tension compensation in the low tension direction or to slow down the high tension direction; for swaying of the hoisting components, priority is given to reducing the hoisting speed and applying small reverse traction through the hoisting point guide traction device; for sudden changes in wind load, priority is given to implementing speed reduction, slowing down, and alarm, and large tensioning actions are not given priority to avoid overcompensation when the wind load change direction changes again.

[0049] Candidate control strategies undergo constraint verification. Constraint verification includes at least three types: First, tension verification, ensuring that the tension of any guy rope does not exceed the allowable value after adjustment; second, path verification, ensuring that the lifting component does not enter the restricted area after adjustment; and third, execution capability verification, ensuring that the control increments of the winch, tensioning device, and braking device are within the equipment's capabilities. Only candidate strategies that pass the above verifications will be output as the final coordinated control strategy.

[0050] The output of the control strategy can be a set of control increments. Where Δv represents the traction speed increment of each winch, ΔT represents the tension increment of each guy rope, Δq represents the guide traction adjustment amount, and B represents the slow stop or interlock control flag. The significance of this set of control increments is that it can control multiple actuators simultaneously, rather than relying on manual adjustment of each device individually.

[0051] When the tower lifting components sway to the right of the line, increasing the tension of the right-side guy ropes and causing the top of the mast to also shift to the right, the system does not simply command the right-side guy ropes to continue tensioning. Instead, it generates a combined strategy: reducing the right-side winch traction speed, increasing the left-side guide traction compensation, appropriately increasing the tension of the left-side guy ropes, and providing slight compensation to the rear-side guy ropes to simultaneously suppress the swaying of the lifting components and the swaying of the mast. This example corresponds to the operating principle of the "winch traction speed adjustment strategy, guy rope tension adjustment strategy, and lifting point traction direction adjustment strategy" in the context of the system.

[0052] The closed-loop control module is used to send the collaborative control strategy to the actuator and collect execution feedback. The feedback data is used to correct the coupled force model and collaborative control strategy to form a dynamic balance closed-loop control of the landing pole.

[0053] In the closed-loop control module, the execution feedback includes the control command issuance time, the actuator response time, the actual hoisting speed, the actual tension force, the change in boom posture, and the change in hoisting component swing. The system calculates the control effectiveness based on the execution feedback. When the control effectiveness is less than the set value, the wind load coefficient, friction coefficient, pulley block efficiency coefficient, or guy rope equivalent stiffness coefficient in the coupled force model are corrected, and a new collaborative control strategy is generated.

[0054] The coordinated control strategy is distributed to the actuators. The actuators include a variable frequency winch, an electric tensioning device for guy ropes, a hydraulic braking device, a lifting point guiding traction device, and a safety interlock controller. The variable frequency winch adjusts the traction speed according to control commands, the electric tensioning device adjusts the guy rope tension according to tension increment commands, the hydraulic braking device is used for slow stopping or maintaining the position, the lifting point guiding traction device is used to apply small-amplitude directional compensation to the suspended components, and the safety interlock controller is used to limit or stop dangerous actions in a risk-suppressed state.

[0055] Collect execution feedback. Execution feedback includes the control command issuance time, actuator response time, actual hoisting speed, actual guy rope tension, changes in boom posture, changes in hoist sway, and changes in risk value after control. Compare the dynamic equilibrium state vector before and after control to calculate control effectiveness. If the boom posture deviation decreases, the guy rope tension difference decreases, and the hoist sway speed decreases after control, the control is considered effective; if only some indicators improve, the control is considered partially effective; if the indicators do not improve or even increase, the control is considered ineffective.

[0056] When the control effectiveness falls below the set value, the coupled force model is corrected. Correction parameters include the wind load factor, pulley block efficiency factor, winch response hysteresis parameter, guy rope equivalent stiffness factor, and anchorage boundary displacement parameter. For example, if it is predicted that the sway of the hoisting member should decrease rapidly after reducing the winch speed, but the actual reduction in sway is insufficient, it may indicate that the wind load factor is underestimated or the windward area parameter of the hoisting member is inaccurate; accordingly, the wind load factor is increased, and the next control strategy is recalculated.

[0057] It can also generate construction records. These records include component numbers, assembly stages, sensor data, dynamic balance status, control strategies, execution feedback, risk level changes, and manual confirmation information. These records are used for both post-construction quality traceability and parameter pre-setting for similar tower types, similar gantry heights, and similar construction environments.

[0058] In the event of a communication failure, the system enters a local interlocking protection mode. The edge computing layer retains the most recent balance constraint boundaries and safety interlocking conditions. If the field perception layer can still collect critical data normally, the edge computing layer continues to perform risk suppression state determination. If critical sensor data is lost, a slow-stop command is issued to the control execution layer, and a manual takeover prompt is sent to the monitoring management layer.

[0059] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dynamic balance intelligent control system for ground-mounted gantry erection of ultra-high voltage transmission towers, characterized in that: It includes a data acquisition module, a model building module, a boundary generation module, a strategy generation module, and a closed-loop control module; The data acquisition module is used to acquire multi-source status data of the gantry foundation, gantry body, guy ropes, lifting slings, tower material lifting parts and the working environment, and generate an assembly constraint dataset of the ground gantry assembly scenario based on the multi-source status data. The model building module is used to construct a coupled force model between the gantry, guy ropes and tower lifting components based on the multi-source state data and assembly constraint dataset, and to determine the gantry attitude deviation, guy rope tension deviation and tower lifting component center of gravity offset. The boundary generation module is used to determine the dynamic equilibrium state based on the coupled force model and generate equilibrium constraint boundaries that include the attitude safety domain, tension safety domain, and hoisting path safety domain. The strategy generation module is used to generate a coordinated control strategy for winch traction, guy rope tension, lifting point traction, and lifting speed when the dynamic equilibrium state approaches or exceeds the equilibrium constraint boundary. The closed-loop control module is used to send the collaborative control strategy to the actuator and collect execution feedback. The coupled force model and collaborative control strategy are corrected through feedback data to form a dynamic balance closed-loop control for the landing pole.

2. The intelligent control system for dynamic balance of ground-mounted scaffolding during the erection of ultra-high voltage transmission towers according to claim 1, characterized in that: The data acquisition module includes multi-source status data such as pole tilt angle data, pole top displacement data, pole base settlement data, tension data of each guy rope, coordinates of guy rope anchor points, weight data of tower lifting components, lifting point location data, winch operation data, wind speed and direction data, and construction video recognition data. Specifically, tilt angle data of the gantry is obtained by tilt sensors installed at the bottom, middle and top sections of the gantry; tension data of each guy rope is obtained by tension sensors; and displacement data of the top of the gantry and spatial position data of the tower material lifting components are obtained by positioning or ranging devices.

3. The intelligent control system for dynamic balance of ground-mounted scaffolding for ultra-high voltage transmission tower erection according to claim 2, characterized in that: The assembly constraint dataset includes pole base constraints, guy rope anchorage constraints, pulley block ratio constraints, lifting point connection constraints, tower assembly sequence constraints, and restricted space constraints. The system uses the center of the pole base as the origin of the construction coordinate system, and uses the tower leg direction, line direction and vertical direction as the coordinate axis directions, and converts the data of each sensor to the same construction coordinate system.

4. The intelligent control system for dynamic balance of ground-mounted scaffolding during the erection of ultra-high voltage transmission towers according to claim 1, characterized in that: In the model construction module, the coupled force model includes an equivalent rigid body model of the gantry, a guy rope tension vector model, a tower lifting component center of gravity model, and a wind load disturbance model. Among them, the equivalent rigid body model of the gantry represents the attitude of the gantry with the center of the gantry base, the top node of the gantry, and the intermediate connection node; the guy rope tension vector model represents the constraint effect of the guy rope on the gantry with the direction vector and tension value from each anchor point to the gantry connection point; and the tower lifting component center of gravity model represents the moment effect of the lifting load on the gantry with the weight of the lifting component, the coordinates of the lifting point, and the coordinates of the center of gravity.

5. The intelligent control system for dynamic balance of ground-mounted scaffolding during ultra-high voltage tower erection according to claim 4, characterized in that: The pole posture deviation includes the pole tilt angle deviation and the pole top displacement deviation; the guy rope tension deviation includes the relative tension deviation of a single guy rope, the tension difference of symmetrical guy ropes, and the tension change rate; the tower material lifting component center of gravity offset includes the horizontal offset of the lifting component center of gravity relative to the vertical line of the hook and the swing speed of the lifting component. Specifically, the deviations are combined into a dynamic equilibrium state vector, and the dynamic equilibrium state vector is used as the input for the equilibrium state determination in the boundary generation module.

6. The intelligent control system for dynamic balance of ground-mounted scaffolding during ultra-high voltage transmission tower erection according to claim 1, characterized in that: In the boundary generation module, the balance constraint boundary is determined jointly by the construction stage, lifting component type, gantry height, guy rope arrangement, and real-time wind load level. Specifically, when the gantry attitude deviation, guy rope tension deviation, or lifting path deviation does not reach the corresponding safety threshold, the dynamic balance state is determined to be a stable balance state. When any deviation reaches the warning threshold but not the shutdown threshold, the dynamic balance state is determined to be an offset adjustment state. When any deviation reaches the shutdown threshold or different deviation combinations meet the interlocking conditions, the dynamic balance state is determined to be a risk suppression state.

7. The intelligent control system for dynamic balance of ground-mounted scaffolding for ultra-high voltage transmission tower erection according to claim 1, characterized in that: The strategy generation module includes a cooperative control strategy for adjusting the winch traction speed, adjusting the guy rope tension, adjusting the traction direction of the lifting point, pausing the lifting process, and alarm interlocking. The system first generates candidate control strategies based on the dynamic equilibrium state vector, and then verifies whether the candidate control strategies will cause the lifting component to enter the restricted space or cause any guy rope to exceed the allowable tension based on the assembly constraint dataset. After the verification is passed, the final cooperative control strategy is output.

8. The intelligent control system for dynamic balance of ground-mounted scaffolding in ultra-high voltage transmission tower erection according to claim 1, characterized in that: The actuator includes a frequency converter winch, an electric tensioning device for guy ropes, a hydraulic braking device, a lifting point guiding traction device, and a safety interlock controller; wherein, the frequency converter winch receives traction speed commands, the electric tensioning device for guy ropes receives tension increment commands, the hydraulic braking device receives pause or slow stop commands, and the safety interlock controller switches the lifting action to a restricted action or a stop action in a risk suppression state.

9. The intelligent control system for dynamic balance of ground-mounted scaffolding in ultra-high voltage transmission tower erection according to claim 1, characterized in that: In the closed-loop control module, the execution feedback includes the control command issuance time, the actuator response time, the actual hoisting speed, the actual tension force, the change in the boom posture, and the change in the swing of the hoisting component. The system calculates the control effectiveness based on the execution feedback. When the control effectiveness is less than the set value, the wind load coefficient, friction coefficient, pulley block efficiency coefficient, or equivalent stiffness coefficient of the guy rope in the coupled force model are corrected, and a new collaborative control strategy is generated.

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