Segmented timing coordination control method and system for multi-actuator cantilever beam forming machine

Abstract

The application relates to the technical field of general control or regulation systems, and discloses a segmented time sequence cooperative control method and system for a cantilever beam forming machine multi-actuator, which comprises the following steps: collecting the states of each actuator and the dynamic stress of the main beam; constructing a time sequence constraint matrix to limit the action sequence and the phase window; calculating the cross-coupling displacement error according to the stiffness ratio and the tracking error; combining the stress variation rate and the cross-coupling error to calculate the phase time delay compensation quantity; adjusting the closed-loop control command to drive the cooperative action of each actuator; and activating the arbitration logic to cut off the driving signal and lock the position when the parameters are out of limit. The application converts the structural stress evolution trend into the time phase correction parameter of the control loop, combines the process constraint and the safety arbitration, constructs a high-precision closed-loop automatic regulation and cooperative control mechanism, effectively offsets the influence of hydraulic hysteresis and elastic deformation, and improves the multi-axis action synchronization precision and the construction stability.

Description

Technical Field

[0001] This invention belongs to the field of general control or regulation system technology, and in particular relates to a segmented timing cooperative control method and system for multiple actuators of a cantilever beam-making machine. Background Technology

[0002] For complex electromechanical equipment containing multiple different drive mechanisms, a multi-loop closed-loop control method is typically adopted. The control system collects the position feedback signals of each drive mechanism, calculates the tracking error between the actual position and the target position, and then outputs corresponding drive signals to adjust the opening of hydraulic valves or the output of the power source, thereby enabling multiple action links to operate as required and maintaining the overall stability of the equipment. In the segmented casting and advancement process of cantilever structures, beam-building machines are usually equipped with multiple sets of hydraulic drive mechanisms, such as traveling, overall lifting, formwork opening and closing, and elevation correction. As the construction process progresses, the cantilever structure will undergo asymmetric elastic deformation, and the mechanical load borne by each drive mechanism will also change accordingly, exhibiting obvious nonlinear and time-varying characteristics. At the same time, the hydraulic transmission circuit itself has response hysteresis and pressure fluctuations, which can lead to uneven loads. In such cases, the response times of each drive mechanism are prone to differ. Existing control methods often employ pre-set sequential relay logic or perform independent single-loop closed-loop position adjustment for each drive mechanism. There is a lack of means for coordinated control and dynamic phase compensation between drive loops based on the structural stress state. When construction procedures are switched or multiple mechanisms are advanced simultaneously, if a drive mechanism lags in response, the position deviation can easily accumulate, leading to overall tilting of the beam-building machine, template jamming, or even local stress exceeding limits. Simply increasing the sensor sampling frequency or increasing the closed-loop control gain cannot eliminate the phase lag caused by structural elastic deformation and may also cause hydraulic pipeline pressure shocks and servo mechanism vibrations. Therefore, it is difficult to resolve the contradiction between the asynchronous actions of multiple drive mechanisms and dynamic load changes.

[0003] Besides the inherent elastic deformation of the physical structure and the limitations of the hardware characteristics of hydraulic components, existing automated control methods also have shortcomings in terms of software algorithm adjustment. For example, Chinese invention patent application CN121277073A discloses a hanging basket motion control method and system based on operation state recognition. It relies on a finite state machine to discretize the operating conditions and calls a preset lookup table to tune the controller parameters. However, the stress evolution and load variation in the segmented construction of the cantilever structure are in a continuous nonlinear state. Discrete operation condition recognition and parameter mapping are difficult to map the dynamic intervention of the structural stress variation rate on the multi-axis action phase in real time. The parameter mutation near the threshold critical point is very likely to cause control jitter. Moreover, it lacks the action timing constraints and phase window dynamic correction mechanism for each segmented operation under each operation condition, and cannot achieve time delay phase correction based on the continuous stress evolution trend before the displacement deviation expands.

[0004] Therefore, in the case of multiple mechanisms interacting with each other and the load constantly changing, how to reduce the timing phase lag between each drive mechanism and achieve closed-loop coordinated control based on structural stress changes and positional deviations between mechanisms remains a problem that needs to be solved in the control of multiple actuators of cantilever beam-making machines. Summary of the Invention

[0005] To address the problems in the background art, the technical solution of the present invention is as follows: A segmented time-series cooperative control method for multiple actuators in a cantilever beam-making machine, comprising the following steps: Step S1: Construct a state space model of multiple actuators, collect the displacement, hydraulic pressure and attitude tilt angle of each actuator, as well as the dynamic stress of the main beam nodes, and determine the single-loop tracking error by subtracting the actual displacement and reference displacement of each actuator. Step S2: Divide the construction process into multiple functional segments and construct a timing constraint matrix to limit the action triggering order and timing phase window of each actuator under the current functional segment. Step S3: Determine the dynamic coupling coefficient based on the ratio of the local structural stiffness at the support nodes of one actuator and another actuator. Subtract the product of the single-loop tracking error of the other actuator and the dynamic coupling coefficient from the single-loop tracking error of one actuator to calculate the cross-coupling displacement error. Step S4: Differentiate the dynamic stress to obtain the dynamic stress variation rate, superimpose the single-loop error term, cross-coupling compensation term and stress feedforward suppression term based on the dynamic stress variation rate, and calculate the phase delay compensation amount of each actuator. Step S5: Combine the phase delay compensation amount to adjust the closed-loop control command, output voltage signal to the electro-hydraulic servo valve, adjust the driving hydraulic flow of each actuator, and drive each actuator to coordinate action according to the adjusted timing phase window. Step S6: When the attitude tilt angle or dynamic stress exceeds the safety threshold, activate the timing arbitration logic, cut off the voltage signal of the actuator that causes the deviation to increase, keep the position locked of the remaining actuators, and correct the timing constraint matrix.

[0006] Preferably, the functional segmentation process includes automatic demolding segmentation, automatic walking stepping segmentation, template posture adjustment segmentation, and pouring loading support segmentation; the non-zero elements in the timing constraint matrix limit the lower and upper limits of the start time allowed for each actuator in the current functional segmentation process; the dynamic coupling coefficient is updated in real time based on the ratio of the local structural stiffness at the support nodes where each actuator is located, in order to balance the load distribution under asymmetric structural deformation.

[0007] Preferably, in step S4, step S41 is refined to calculate any one of the actuators. When calculating the phase delay compensation, the single-loop error gain coefficient is multiplied by the single-loop tracking error of actuator i to obtain the single-loop error term. The cross-coupling error compensation coefficient is multiplied by the sum of the cross-coupling displacement errors to obtain the cross-coupling compensation term. The stress feedforward suppression coefficient is multiplied by the time variation rate of dynamic stress to obtain the stress feedforward suppression term. The single-loop error term, cross-coupling compensation term, and stress feedforward suppression term are then linearly superimposed to determine the actuator. The phase delay compensation amount, where i is a positive integer greater than or equal to 1 and is the index of each actuator number.

[0008] Preferably, the phase delay compensation amount is set with a physical saturation upper limit; when the calculated phase delay compensation amount exceeds the physical saturation upper limit, the current phase difference of each actuator is locked and an alarm signal is output.

[0009] Preferably, in step S5, step S51 is refined. When generating closed-loop control commands for each actuator, the basic feedforward control signal, the proportional-derivative control quantity calculated based on the single-loop tracking error, and the cross-coupled displacement error weighted term corrected based on the phase delay compensation quantity are linearly combined to output a voltage control signal to the electro-hydraulic servo valve, thereby adjusting the driving hydraulic flow and response rate of each actuator.

[0010] Preferably, in step S6, step S61 is refined as follows: when the measured attitude tilt angle exceeds the set tilt angle threshold or the measured dynamic stress exceeds the set stress threshold, the timing arbitration logic interrupts the voltage signal of the actuator that causes the deviation to expand, maintains the hydraulic locking and position locking of the remaining actuators, and readjusts the timing phase window of the subsequent process in the timing constraint matrix.

[0011] Preferably, the dynamic coupling coefficient is updated online based on the ratio of the real-time local stiffness matrix at each actuator support node caused by the bending deformation of the main beam structure of the cantilever beam machine, in order to offset the displacement deviation caused by the elastic deformation of the structure.

[0012] Preferably, in step S1, step S11 is refined by using tilt sensors, pressure sensors and tensile / compressive strain gauges deployed at the stress nodes of the beam-building machine to acquire displacement data, pressure data and main beam stress time series of each actuator in real time; and constructing a state-space equation that includes displacement state, hydraulic dynamics state and structural elastic deformation state based on the acquired data.

[0013] Preferably, after completing the current functional segment process, the residual stress of the main beam node and the overall attitude deviation of the beam-making machine are obtained; when the residual stress and the overall attitude deviation are both within the set safety range, the process index is updated, and the timing constraint matrix corresponding to the next functional segment process is loaded, driving each actuator to enter the next stage of timing collaborative control process.

[0014] A segmented time-series cooperative control system for multiple actuators of a cantilever beam-building machine, used to implement a segmented time-series cooperative control method for multiple actuators of a cantilever beam-building machine, including: The state acquisition and modeling module is used to construct a state space model of multiple actuators, acquire the displacement, hydraulic pressure and attitude tilt angle of each actuator, as well as the dynamic stress of the main beam node of the beam-making machine, and determine the single-loop tracking error by subtracting the actual displacement and reference displacement of each actuator. The process timing constraint module is used to divide the construction process into multiple functional segments based on the current construction process of the beam-making machine, construct a timing constraint matrix, and limit the action triggering order and timing phase window of each actuator under the current functional segment process; The cross-coupling calculation module is used to determine the dynamic coupling coefficient based on the ratio of the local structural stiffness at the support nodes of one actuator and another actuator, and to calculate the cross-coupling displacement error by subtracting the product of the single-loop tracking error of the other actuator and the dynamic coupling coefficient from the single-loop tracking error of one actuator. The phase compensation calculation module is used to differentiate the dynamic stress to obtain the dynamic stress variation rate, superimpose the single-loop error term, the cross-coupling compensation term and the stress feedforward suppression term based on the dynamic stress variation rate, and calculate the phase delay compensation amount of each actuator. The closed-loop collaborative drive module is used to adjust the closed-loop control command in combination with the phase delay compensation amount, output voltage signal to the electro-hydraulic servo valve, adjust the driving hydraulic flow of each actuator, and drive each actuator to coordinate action according to the adjusted timing phase window. The timing arbitration response module is used to activate the timing arbitration logic when the attitude tilt angle or dynamic stress exceeds the safety threshold, cut off the voltage signal of the actuator that causes the deviation to increase, keep the position of the remaining actuators locked, and correct the timing constraint matrix.

[0015] Compared with existing technologies, the present invention provides a segmented time-sequential collaborative control method and system for multiple actuators in cantilever beam-making machines, which has the following advantages: 1. In the segmented time-sequential collaborative control of multiple actuators in cantilever beam construction machines, the synchronization of multiple actuators under asymmetrical load and hydraulic response hysteresis conditions can be improved. By using single-loop tracking error, cross-coupling displacement error, and dynamic stress changes of the main beam for phase delay compensation, the control system can not only adjust according to the position deviation of each actuator, but also take into account the action deviation between the actuators and the structural stress changes. When a certain actuator responds faster or slower, its propulsion process can be adjusted in time to reduce the accumulation of position deviation caused by response time difference, thereby reducing the impact of hydraulic hysteresis and structural elastic deformation on the synchronous operation of multiple actuators, and enabling each actuator to maintain good displacement synchronization during dynamic load changes.

[0016] 2. It can make the sequence of actions under different construction procedures clearer and reduce the interference of process switching and load changes on coordinated actions. By setting corresponding timing constraint matrices for different processes such as demolding, walking, posture adjustment and loading support, each actuator can run according to the action sequence and timing phase window required by the current process, avoiding blind synchronous advancement when it is not suitable for simultaneous action. When the construction state changes, the control process can still maintain the action timing corresponding to the requirements of the current process, thereby reducing the risk of structural torsion and stress concentration caused by local response lag and improving the control stability during multi-condition alternating operation.

[0017] 3. It can promptly limit abnormal actions when the posture or structural stress is abnormal, preventing the control system from continuing to output drive commands that may amplify the deviation. By monitoring the posture tilt angle and the dynamic stress of the main beam, and performing timing arbitration when the safety threshold is exceeded, it can interrupt the actuators that cause the deviation to amplify, while maintaining the position stability of other actuators and adjusting the timing of subsequent actions. This can reduce the risk of structural tilt and further stress increase caused by the continued action of abnormal loads, so that the system still has the corresponding safety control and adjustment capabilities after an abnormal state occurs, improving the operational safety and fault tolerance of the cantilever beam machine under asymmetrical load disturbances. Attached Figure Description

[0018] Figure 1 This is a flowchart of the segmented timing and phase compensation control of the present invention; Figure 2 This is a structural diagram of the multi-actuator closed-loop collaborative control system module of the present invention; Figure 3 This is a schematic diagram of the cross-coupling and closed-loop control signal flow of the two actuators in this invention; Figure 4 This is the causal and parameter mapping structure diagram of the multi-actuator segmented timing cooperative control feature of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0020] A segmented time-series collaborative control method for multiple actuators in a cantilever beam-making machine includes the following steps: Step S1: Construct a state space model of multiple actuators, collect the displacement, hydraulic pressure and attitude tilt angle of each actuator, as well as the dynamic stress of the main beam nodes, and determine the single-loop tracking error by subtracting the actual displacement and reference displacement of each actuator. Step S2: Divide the construction process into multiple functional segments and construct a timing constraint matrix to limit the action triggering order and timing phase window of each actuator under the current functional segment. Step S3: Determine the dynamic coupling coefficient based on the ratio of the local structural stiffness at the support nodes of one actuator and another actuator. Subtract the product of the single-loop tracking error of the other actuator and the dynamic coupling coefficient from the single-loop tracking error of one actuator to calculate the cross-coupling displacement error. Step S4: Differentiate the dynamic stress to obtain the dynamic stress variation rate, superimpose the single-loop error term, cross-coupling compensation term and stress feedforward suppression term based on the dynamic stress variation rate, and calculate the phase delay compensation amount of each actuator. Step S5: Combine the phase delay compensation amount to adjust the closed-loop control command, output voltage signal to the electro-hydraulic servo valve, adjust the driving hydraulic flow of each actuator, and drive each actuator to coordinate action according to the adjusted timing phase window. Step S6: When the attitude tilt angle or dynamic stress exceeds the safety threshold, activate the timing arbitration logic, cut off the voltage signal of the actuator that causes the deviation to increase, keep the position locked of the remaining actuators, and correct the timing constraint matrix.

[0021] Preferably, the functional segmentation process includes automatic demolding segmentation, automatic walking and stepping segmentation, template posture adjustment segmentation, and pouring and loading support segmentation; the non-zero elements in the timing constraint matrix limit the lower and upper limits of the start time allowed for each actuator in the current functional segmentation process; the dynamic coupling coefficient is updated in real time according to the ratio of the local structural stiffness at the support nodes of each actuator, in order to balance the load distribution under asymmetric structural deformation.

[0022] Preferably, in step S4, step S41 is refined to calculate any one of the actuators. When calculating the phase delay compensation, the single-loop error gain coefficient is multiplied by the single-loop tracking error of actuator i to obtain the single-loop error term. The cross-coupling error compensation coefficient is multiplied by the sum of the cross-coupling displacement errors to obtain the cross-coupling compensation term. The stress feedforward suppression coefficient is multiplied by the time variation rate of dynamic stress to obtain the stress feedforward suppression term. The single-loop error term, cross-coupling compensation term, and stress feedforward suppression term are then linearly superimposed to determine the actuator. The phase delay compensation amount, where i is a positive integer greater than or equal to 1 and is the index of each actuator number.

[0023] Preferably, the phase delay compensation amount is set with a physical saturation upper limit; when the calculated phase delay compensation amount exceeds the physical saturation upper limit, the current phase difference of each actuator is locked and an alarm signal is output.

[0024] Preferably, in step S5, step S51 is refined. When generating closed-loop control commands for each actuator, the basic feedforward control signal, the proportional-derivative control quantity calculated based on the single-loop tracking error, and the cross-coupled displacement error weighted term corrected based on the phase delay compensation quantity are linearly combined to output a voltage control signal to the electro-hydraulic servo valve, thereby adjusting the driving hydraulic flow and response rate of each actuator.

[0025] Preferably, in step S6, step S61 is refined as follows: when the measured attitude tilt angle exceeds the set tilt angle threshold or the measured dynamic stress exceeds the set stress threshold, the timing arbitration logic interrupts the voltage signal of the actuator that causes the deviation to expand, maintains the hydraulic locking and position locking of the remaining actuators, and readjusts the timing phase window of the subsequent process in the timing constraint matrix.

[0026] Preferably, the dynamic coupling coefficient is updated online based on the ratio of the real-time local stiffness matrix at each actuator support node caused by the bending deformation of the main beam structure of the cantilever beam machine, in order to offset the displacement deviation caused by the elastic deformation of the structure.

[0027] Preferably, in step S1, step S11 is refined by using tilt sensors, pressure sensors and tensile / compressive strain gauges deployed at the stress nodes of the beam-building machine to acquire displacement data, pressure data and main beam stress time series of each actuator in real time; and constructing a state-space equation that includes displacement state, hydraulic dynamics state and structural elastic deformation state based on the acquired data.

[0028] Preferably, after completing the current functional segment process, the residual stress of the main beam node and the overall attitude deviation of the beam-making machine are obtained; when the residual stress and the overall attitude deviation are both within the set safety range, the process index is updated, and the timing constraint matrix corresponding to the next functional segment process is loaded, driving each actuator to enter the next stage of timing collaborative control process.

[0029] A segmented time-series cooperative control system for multiple actuators of a cantilever beam-building machine, used to implement a segmented time-series cooperative control method for multiple actuators of a cantilever beam-building machine, including: The state acquisition and modeling module is used to construct a state space model of multiple actuators, acquire the displacement, hydraulic pressure and attitude tilt angle of each actuator, as well as the dynamic stress of the main beam node of the beam-making machine, and determine the single-loop tracking error by subtracting the actual displacement and reference displacement of each actuator. The process timing constraint module is used to divide the construction process into multiple functional segments based on the current construction process of the beam-making machine, construct a timing constraint matrix, and limit the action triggering order and timing phase window of each actuator under the current functional segment process; The cross-coupling calculation module is used to determine the dynamic coupling coefficient based on the ratio of the local structural stiffness at the support nodes of one actuator and another actuator, and to calculate the cross-coupling displacement error by subtracting the product of the single-loop tracking error of the other actuator and the dynamic coupling coefficient from the single-loop tracking error of one actuator. The phase compensation calculation module is used to differentiate the dynamic stress to obtain the dynamic stress variation rate, superimpose the single-loop error term, the cross-coupling compensation term and the stress feedforward suppression term based on the dynamic stress variation rate, and calculate the phase delay compensation amount of each actuator. The closed-loop collaborative drive module is used to adjust the closed-loop control command in combination with the phase delay compensation amount, output voltage signal to the electro-hydraulic servo valve, adjust the driving hydraulic flow of each actuator, and drive each actuator to coordinate action according to the adjusted timing phase window. The timing arbitration response module is used to activate the timing arbitration logic when the attitude tilt angle or dynamic stress exceeds the safety threshold, cut off the voltage signal of the actuator that causes the deviation to increase, keep the position of the remaining actuators locked, and correct the timing constraint matrix.

[0030] Example 1: In the side formwork posture correction process of cantilever casting of a long-span continuous beam, the cantilever beam-building machine bears an asymmetric structural load. The main beam structure undergoes elastic deformation with the construction progress, and the hydraulic drive system exhibits hysteresis and pressure fluctuations. This causes multiple drive mechanisms distributed at key support parts of the beam-building machine to exhibit spatiotemporal coupling and nonlinear load interference during the demolding, walking, formwork correction, and casting support stages. The control unit uses tilt sensors, pressure sensors, and tensile / compressive strain gauges deployed at the stress nodes for state acquisition. The tilt sensors acquire the tilt angle of the stress nodes and obtain the displacement data of each actuator based on the predetermined geometric relationship between the tilt angle and the stroke of the corresponding actuator. The pressure sensors acquire pressure data, and the tensile / compressive strain gauges acquire node strain and obtain the stress time series of the main beam. Thus, the displacement data, pressure data, and stress time series of each actuator are obtained in real time, and a state space equation including displacement state, hydraulic dynamics state, and structural elastic deformation state is constructed. The state vector contains the displacement of each actuator. Hydraulic pressure and attitude angle The stress-displacement feedback characteristics include the dynamic stress of key nodes in the main beam. Specifically, the state-space equations are composed of discretized state transition relations. The input is the servo valve control voltage, and the output is the displacement and attitude of each actuator. The state variables include actuator displacement, hydraulic chamber pressure, and attitude tilt angle. During the construction process, the hydraulic dynamics state transition sub-matrix is ​​set based on the flow coefficient of the electro-hydraulic servo valve and the effective area of ​​the hydraulic cylinder, with a flow gain coefficient of 0.85 liters per minute per volt. The structural elastic deformation state transition sub-matrix is ​​set according to the stress amplitude of the force-bearing node under unit displacement, with a stiffness coupling coefficient of 0.25 MPa per millimeter. The displacement state transition sub-matrix is ​​determined by the integral time constant, with the discrete sampling period set to 10 milliseconds. By multiplying the displacement, pressure, and tilt angle of the previous sampling moment by the corresponding state transition coefficient and superimposing the control voltage input term, continuous state prediction of the system dynamic response and structural elastic deformation at the next moment is achieved.

[0031] For the current side formwork attitude correction process of the cantilever beam-making machine, the category index is set as process. Control unit construction Dimensional temporal constraint matrix This is used to define the triggering sequence and allowed timing phase window of the four hydraulic height adjustment actuators in the current process. The general construction logic of the timing constraint matrix is ​​as follows: based on the process requirements of the current construction process, extract the logical dependencies and mechanical interference conditions of each actuator. The rows and columns of the matrix correspond to the source actuator and the constrained actuator, respectively. The non-zero elements in the matrix are set as the lower and upper time limits for the allowed start of each actuator. The trigger time difference or displacement condition threshold is used as the process constraint to determine the above lower and upper time limits. When generating the matrix, the control unit first queries the topology table corresponding to the process index, sets the parallel mechanisms without mechanical interference to zero-delay constraints, sets the mechanisms with load-bearing sequence to step-delay constraints, and calculates the maximum allowable phase difference based on the structural stiffness of each support point to determine the value range of each element in the matrix. The non-zero elements in the control unit limit the synchronous start of actuators 1 and 2 within a timing phase window with a phase difference not exceeding 80ms. For actuators 3 and 4, the control unit obtains the corresponding trigger time when the displacement of actuator 1 reaches 50mm, uses this trigger time as the lower limit of the allowed start time, and determines the upper limit of the time in combination with the maximum allowable phase difference, so as to ensure that actuators 3 and 4 are triggered after the displacement of actuator 1 reaches 50mm. The system sampling period is set to 10ms.

[0032] At any moment At that time, the control unit sets the reference target displacement of actuator 1. Set the reference target displacement of actuator 2 The sensor collects the actual displacement of actuator 1. The actual displacement of actuator 2 Therefore, the single-loop tracking error of actuator 1 is determined to be e1(2.0s) = S1(2.0s) - S 1,ref (2.0s) = 98.0mm - 100.0mm = -2.0mm, determine the single-loop tracking error of actuator 2 as e2(2.0s) = S2(2.0s) - S 2,ref (2.0s) = 95.0mm - 100.0mm = -5.0mm; The control unit accesses the pre-stored support node calibration parameter table in its internal non-volatile memory and retrieves the local stiffness values ​​of the support positions of actuators 1 and 2 according to the storage address; the local stiffness value characterizes the cantilever beam-building machine's ability to resist structural elastic deformation at the corresponding actuator installation support node, specifically defined as the ratio of the change in hydraulic drive load borne by the support node to the change in structural elastic deformation displacement at the corresponding node; the structural stiffness ratio refers to the numerical ratio determined by comparing the local stiffness value of the support node where actuator 1 is located with the local stiffness value of the support node where actuator 2 is located; after the control unit retrieves the local stiffness values ​​of the support positions of actuators 1 and 2, it uses the structural stiffness ratio of the two as the dynamic coupling coefficient, and determines the dynamic coupling coefficient in the symmetrical position of this embodiment. Calculate the cross-coupling displacement error e between actuator 1 and actuator 2. 12 (2.0s)=e1(2.0s)-γ 12 e2(2.0s)=-2.0mm-1.0×(-5.0mm)=3.0mm.

[0033] The control unit differentiates the measured dynamic stress time series of the key nodes of the main beam with respect to time to obtain the dynamic stress variation rate of the key nodes of the main beam. Set the single-loop error gain coefficient Set the cross-coupling error compensation coefficient Set the stress feedforward suppression coefficient When calculating the cross-coupling compensation term, the cross-coupling error compensation coefficient is multiplied by the sum of the cross-coupling displacement errors. In this embodiment, the cross-coupling displacement error corresponding to actuator 1 is... Therefore, the single-loop tracking error is superimposed. Cross-coupling displacement error and dynamic stress variation rate The calculation execution mechanism 1 is in the current process Phase delay compensation Δτ 13 =α1e1(2.0s)+β1e 12 (2.0s)+κ1(dσ1) / d t=0.10s / mm×(-2.0mm)+0.05s / mm×(+3.0mm)+0.02s 2 / MPa×5.0MPa / s=-0.20s+0.15s+0.10s=0.05s, which is equivalent to 50ms; since the calculated phase delay compensation of 0.05s does not exceed the preset physical saturation upper limit. The system maintains the current phase difference correction state, directly converting the stress evolution trend caused by the elastic deformation of the main beam structure into the time phase correction parameter of the control loop. Before the displacement deviation expands, the propulsion rate of the faster-responding mechanism is finely adjusted to counteract the interference of hydraulic transmission lag on the multi-axis phase. At the physical conversion level, the dynamic stress variation rate of the main beam reflects the elastic strain accumulation rate of the structure under uneven load. When the stress variation rate is 5.0 MPa per second, the micro-deformation of the main beam material causes micro-geometric displacement changes in the support nodes. This displacement change multiplied by the equivalent compliance coefficient of the structure is converted into the equivalent position disturbance of the electro-hydraulic servo system. The control unit uses the rated response time constant of the hydraulic system, which is 100 milliseconds, and the flow response lag angle of the electro-hydraulic valve to divide the position disturbance by the real-time propulsion speed of the actuator, and calculates the time-domain phase offset that needs to be output earlier or later for the control command. Through this medium response conversion chain, the macro-structural stress evolution variation rate is accurately mapped into the millisecond-level time correction in the micro-control loop.

[0034] The control unit retrieves the basic feedforward voltage signal. Set the proportional gain Set the differential gain The measured error variation rate The voltage gain coefficient corresponding to the cross-coupling control matrix is ​​set to... Before generating closed-loop control commands, the phase delay compensation amount First, it takes effect as a time offset at the timing trigger end, correcting the control command output time of actuator 1 within the current timing phase window; under the corrected control timing, the basic feedforward control signal, the proportional-derivative control quantity based on the single-loop tracking error, and the cross-coupled displacement error weighting term are linearly combined, and the cross-coupled displacement error weighting term is calculated according to... Calculate and generate the closed-loop control command: u1(2.0s) = u1,0(2.0s) + K p,1 e1(2.0s)+K d,1 (de1(2.0s)) / d t +M 12 e 12 (2.0s)=5.000V+0.200V / mm×(-2.0mm)+0.010V s / mm×(-0.500mm / s)+0.100V / mm×(+3.0mm)=5.000V-0.400V-0.005V+0.300V=4.895V; The control unit outputs a control voltage signal of 4.895V to the electro-hydraulic servo valve corresponding to actuator 1, adjusting its driving hydraulic flow and response rate, so that actuator 1 reduces its advance rate to wait for actuator 2 with a lagging response, maintaining the dynamic displacement synchronization of the multi-axis drive source system.

[0035] During the template attitude adjustment process, the control unit continuously monitors the tilt angle of the beam-making machine. Dynamic stress of the main beam The tilt angle of the beam-building machine was measured. The angle is 0.12°, which is lower than the set tilt angle threshold of 0.5°; the side formwork elevation correction has been advanced to the next stage, and the dynamic stress of key nodes of the main beam has been measured. When the stress reaches 185 MPa and exceeds the set stress threshold of 180 MPa, the control unit compares the direction of displacement change of the actuator corresponding to the current voltage signal with the direction of displacement change required to reduce the cross-coupling displacement error. The actuator that would increase the absolute value of the cross-coupling displacement error by continuing the current driving action is determined to be the actuator causing the deviation to expand. In this embodiment, actuator 1 is determined to be the actuator causing the deviation to expand. The control unit activates the timing arbitration logic, cuts off the voltage drive signal of actuator 1, maintains the hydraulic locking and position locking states of the remaining actuators, outputs a stress over-limit warning signal to the control interface, and reconstructs and corrects the timing constraint matrix. The timing phase window of subsequent steps is widened to meet the safe unloading conditions, suppressing structural torsion and overturning caused by asymmetric loads, and completing the multi-actuator timing coordinated control under the side form attitude correction segment. The specific algorithm for reconstructing and correcting the timing constraint matrix is ​​as follows: when the trigger tilt angle or stress exceeds the limit, the control unit locks the matrix row and column corresponding to the actuator with abnormal current action and sets its trigger factor to the disabled state; at the same time, the difference between the current stress over-limit value and the safety threshold value is calculated, and the allowable timing phase window of the subsequent actuator is smoothly widened from the original 80 milliseconds to the range of 150 milliseconds to 200 milliseconds according to the time window expansion ratio of 20 milliseconds for every 1 MPa over-limit. After the stress drops below 180 MPa, the initial matrix parameters are gradually restored in reverse process.

[0036] Example 2: This example constructs a 1:1 scale cantilever beam-building machine electro-hydraulic servo drive test platform to conduct dynamic response tests on the collaborative control of multiple actuators under asymmetric elastic deformation and hydraulic transmission hysteresis disturbances. The test platform includes four sets of hydraulic height adjustment actuators, a main beam simulated steel structure, and a centralized digital control unit. Inclination sensors, pressure sensors, and tensile / compressive strain gauges are configured at the stress nodes of the beam-building machine to generate displacement data, pressure data, and stress time series of each actuator, respectively. Simultaneously, displacement sensors with a measurement accuracy of 0.01 mm and a sampling frequency of 100 Hz are deployed at the support nodes of each actuator to record the test displacement response. Pressure sensors with a measurement accuracy of 0.1 MPa are deployed in the hydraulic circuit, and tensile / compressive strain gauges are deployed at the key stress nodes of the main beam. Test data is obtained from the side mold attitude correction process. The system simulates the physical response of the monitored signal and superimposes Gaussian white noise with a signal-to-noise ratio of 20dB and a pressure fluctuation disturbance with a frequency of 0.05Hz and an amplitude of 1.5MPa into the hydraulic drive circuit to create mechanical vibration and hydraulic pulsation conditions. The system sampling period is set to 10ms. When the dynamic response bandwidth of the monitored signal is in the range of 10Hz to 20Hz, this sampling period is matched with the operation cycle of the control unit and the response of the electro-hydraulic servo valve. The phase delay compensation is set to the physical saturation upper limit. The value is set to 0.20s, corresponding to the maximum dynamic phase lag limit of 200ms for the electro-hydraulic servo valve at rated flow. When the calculated phase delay compensation exceeds this upper limit, the current phase difference is locked. (Single-loop error gain coefficient) Cross-coupling error compensation coefficient and stress feedforward suppression coefficient All of these values ​​were obtained from the structural stiffness response curves under a standard 1000kN static load.

[0037] Side mold posture correction process In the dynamic response test, four types of comparison conditions were set: Control group 1 used independent single-loop proportional-derivative control without cross-coupling compensation and stress feedforward suppression; Control group 2 retained cross-coupling compensation and set the stress feedforward suppression coefficient to... The upper limit of physical saturation for phase delay compensation in the control group was cancelled. Limitations; the experimental group adopted segmented time-series coordinated control, at time... The target reference displacements of actuator 1 and actuator 2 are respectively set as and The actual displacements obtained were respectively and Corresponding to single-loop tracking error and The dynamic coupling coefficient is determined based on the ratio of the structural stiffness of the two actuators at their physical locations. The two single-loop tracking errors mentioned above are processed according to the calculation relationship of cross-coupling displacement error to obtain... Dynamic stress variation rate at main beam nodes The rate of change, along with the single-loop tracking error, cross-coupling displacement error, and corresponding gain coefficient, is used to calculate phase delay compensation, resulting in... That is, 50ms. After the phase delay compensation is corrected at the timing trigger end for the current timing phase window, the control unit generates the closed-loop control command voltage. The output is sent to the electro-hydraulic servo valve corresponding to actuator 1 and its flow response is reduced.

[0038] In the standard symmetrical load test of control group one, the single-loop tracking errors of the two actuators were respectively and The same cross-coupling displacement error calculation relationship is obtained. Since this group does not incorporate cross-coupling compensation and stress feedforward suppression, the phase delay compensation is 0.00s, the measured attitude tilt angle is 0.32°, the peak dynamic stress of the main beam is 162MPa, the timing arbitration logic is not activated, and under eccentric asymmetric load, the single-loop tracking error further changes to... and The corresponding cross-coupling displacement error reaches The phase delay compensation was still 0.00s, the attitude tilt angle rose to 0.58°, the dynamic stress of the main beam reached 192MPa, the system jammed, and no over-limit interruption was triggered.

[0039] Control group 2 was measured under eccentric asymmetric load. and Thus we obtain While retaining cross-coupling compensation and letting Under these conditions, the calculated phase delay compensation was 0.02s; the corresponding attitude tilt angle was 0.31°, the peak dynamic stress was 184MPa, and no over-limit interruption was triggered. Control group three used dynamic transient impact load, and the measured values ​​were... and Calculations yielded ;Cancel After the limitation, the phase delay compensation increased to 0.25s and exceeded the limit divergence, the attitude tilt angle was 0.44°, the dynamic stress peak was 189MPa, the hydraulic pipeline generated pressure oscillation, and the arbitration response time was 45ms.

[0040] The test group measured under standard symmetrical load. and The result was obtained through cross-coupling calculation. The phase delay compensation is 0.01s, the attitude tilt angle is 0.08°, the peak dynamic stress is 145MPa, the timing arbitration logic is not activated, and under eccentric asymmetric load, the tracking errors of the two single loops are respectively... and ,correspond The phase delay compensation was calculated to be 0.05s based on the single-loop error term, cross-coupling compensation term, and stress feedforward suppression term. The attitude tilt angle was 0.12°, the dynamic stress peak value was 158MPa, and the timing arbitration logic was not activated.

[0041] Under dynamic transient impact load, the test group measured and Thus we obtain The phase delay compensation is 0.11s; under this condition, the attitude tilt angle is 0.18°, the peak dynamic stress is 165MPa, the timing arbitration logic is not activated, and in the test record, the maximum cross-coupling displacement error of the test group is controlled within 1.2mm. Under extreme overload and heavy processing conditions, the single-loop tracking error becomes... and Calculations yielded After the phase delay compensation reaches 0.20s, it remains locked. At this time, the attitude tilt angle is 0.22°, and the dynamic stress of the main beam reaches 185MPa. After the dynamic stress exceeds the safety threshold, the timing arbitration logic is activated, and the actuator drive voltage that causes the deviation to expand is cut off within 15ms and the position is locked.

[0042] Further gradient tests were conducted by varying the dynamic stress variation rate of the main beam. When the dynamic stress variation rate increased from 2.0 MPa / s to 12.0 MPa / s, the results calculated using phase delay compensation were... As the time interval increased from 0.02s to 0.19s, the multi-axis synchronous displacement deviation remained below 1.5mm; when the dynamic stress variation rate increased to above 13.5MPa / s, the phase delay compensation reached the upper limit of physical saturation. The system remained locked, and the system displacement synchronization error rose to 2.1 mm without phase loss. During the above test, the cross-coupled displacement error and the dynamic stress variation rate of the main beam jointly participated in the phase delay compensation calculation. The timing constraint matrix limited the action sequence and timing phase window of each actuator. When the attitude tilt angle or dynamic stress exceeded the safety threshold, the timing arbitration logic cut off the corresponding drive voltage and kept the position of the remaining actuators locked, so that the control process under each working condition continued to be executed according to the set timing.

[0043] Example 3: In the automated walking and stepping segmentation process of cantilever casting of long-span bridges, i.e., the segmentation process... The cantilever beam-building machine is subjected to wind loads and non-uniform frictional resistance from the track, which can easily cause asynchronous left and right propulsion in the traveling drive mechanism. The control unit collects the state vectors of each actuator and the stress-displacement feedback characteristics of the main beam structure in real time, where the state vectors include the displacements of each actuator. Hydraulic pressure and attitude angle The stress-displacement feedback characteristics include the dynamic stress of key nodes in the main beam. and retrieve the corresponding process of Dimensional temporal constraint matrix The starting sequence and timing phase window of the four hydraulic traveling actuators are limited.

[0044] At any moment At that time, the increased resistance of the side rail caused the actuator 1 to lag in its advance, and the single-loop tracking error between the actual displacement measured by the sensor and the target reference displacement was [value missing]. The single-loop tracking error of actuator 2 is Determine the dynamic coupling coefficient based on the stiffness ratio. The cross-coupling displacement error was calculated. The dynamic stress variation rate of the key nodes of the main beam was measured. Combined with single-loop error gain coefficient Cross-coupling error compensation coefficient and stress feedforward suppression coefficient Calculate the phase delay compensation amount Δτ 12 =α1e1(5.0s)+β1e 12 (5.0s)+κ1(dσ1) / dt=0.10s / mm×(-8.0mm)+0.05s / mm×(-7.0mm)+0.02s 2 / MPa×12.0MPa / s=-0.80s-0.35s+0.24s=-0.91s; Because the absolute value of the calculated value exceeds the preset upper limit of physical saturation. The control unit locks the phase delay compensation amount to -0.20s and outputs an alarm signal to limit the overload of the compensation command and maintain the control stability of the hydraulic servo valve within the rated flow response range.

[0045] During the step-by-step advancement process, the sensors measured the tilt angle of the beam-building machine. The inclination angle reaches 0.52° and exceeds the preset inclination angle threshold of 0.5°, or the dynamic stress at the key nodes of the main beam is measured. When the pressure reaches 183 MPa and exceeds the preset stress threshold of 180 MPa, the control unit activates the timing arbitration logic. For the actuators that are still in the driving state, the control unit compares their displacement change direction with the displacement change direction required to reduce the cross-coupling displacement error. If continuing to execute the current action would increase the absolute value of the cross-coupling displacement error, it is determined to be the actuator that causes the deviation to expand. In this embodiment, actuator 1 is identified accordingly, and the driving voltage signal of actuator 1 is interrupted, while maintaining the hydraulic locking and position locking states of the other actuators. Subsequently, the timing constraint matrix is ​​corrected. The timing phase window of subsequent stepping processes is widened, and control commands are regenerated after the attitude tilt angle and the dynamic stress of the main beam recover to the safe threshold range, thus completing the fault tolerance and timing coordination control under the automatic walking stepping segment process.

[0046] When detecting residual stress during the process switching phase, the control unit reads the stress sampling values ​​of the tension and compression strain gauges deployed at the four main load-bearing nodes of the main beam under static conditions. After removing the zero-point offset, the average value is calculated as the residual stress. The safety threshold for residual stress is set to not exceed 50 MPa, and the safety threshold for overall attitude deviation is set to tilt angle not exceed 0.2 degrees. When the detected residual stress is lower than 50 MPa and the overall attitude deviation is lower than 0.2 degrees, the system is determined to have reached a safe balance state for process switching.

[0047] Example 4: This example combines Figures 1 to 4 This paper describes a segmented time-series collaborative control method and system for multiple actuators in a cantilever beam-making machine, such as... Figure 1 As shown, in step S1, a state-space model of multiple actuators is constructed, and the displacement, pressure, tilt angle, and dynamic stress of the main beam of each actuator are collected. The single-loop tracking error is determined by subtracting the actual displacement from the reference displacement. In step S2, the process is divided into multiple functional segments, and a timing constraint matrix is ​​constructed to limit the action triggering sequence and timing phase window of each actuator under the current functional segment. In step S3, the dynamic coupling coefficient is determined based on the physical position and structural stiffness ratio. The single-loop tracking error of one actuator is subtracted from the product of the tracking error of another actuator and the coupling coefficient to calculate the cross-coupling displacement error. In step S4, the rate of change is obtained by differentiating the dynamic stress, and the single-loop error term, cross-coupling compensation term, and stress feedforward suppression term are superimposed to calculate the phase delay compensation amount of each actuator. In step S5, the closed-loop command is adjusted in combination with the phase delay compensation amount, and the voltage signal is output to the electro-hydraulic servo valve to adjust the driving hydraulic flow and drive each actuator to cooperate according to the adjusted phase window. In step S6, when the tilt angle or dynamic stress exceeds the safety threshold, the timing arbitration logic is activated to cut off the voltage signal that causes the deviation to expand, keep the position of the remaining mechanisms locked, and correct the timing constraint matrix.

[0048] like Figure 2As shown, the state acquisition and modeling module contains a state space model, which receives data input from multiple actuators of the cantilever beam-building machine and outputs data to the process timing constraint module. The process timing constraint module contains a timing constraint matrix, which outputs data to the cross-coupling calculation module. The cross-coupling calculation module contains cross-coupling displacement error, which outputs data to the phase compensation calculation module. The phase compensation calculation module contains phase delay compensation, which outputs data to the closed-loop collaborative drive module. The closed-loop collaborative drive module contains closed-loop control commands, which output drive signals to the multiple actuators of the cantilever beam-building machine. The timing arbitration response module contains timing arbitration logic, which receives data input from the multiple actuators of the cantilever beam-building machine and outputs arbitration response signals to the closed-loop collaborative drive module and the process timing constraint module, respectively.

[0049] like Figure 3 As shown, taking the dual-axis coordinated drive of one actuator and another actuator as an example, the signal interaction and closed-loop drive relationship between the two actuators of the present invention are explained: Inclination and pressure sensors deployed on one actuator and another actuator respectively collect displacement, pressure, and inclination data of the corresponding actuators, and compare them with a set reference displacement to calculate the single-loop tracking error of one actuator and the single-loop tracking error of the other actuator respectively; The cross-coupling calculation stage reads the stiffness ratio of the corresponding support positions of the two actuators to determine the dynamic coupling coefficient, and subtracts the product of the single-loop tracking error of the other actuator and the dynamic coupling coefficient from the single-loop tracking error of one actuator to obtain the cross-coupling displacement error; Tension and compression strain gauges deployed on the key stress nodes of the main beam of the cantilever beam-building machine collect the stress of the main beam in real time. The stress is transformed into a dynamic stress time series, and the dynamic stress variation rate of the main beam is obtained by differentiation. The single-loop tracking error, cross-coupling displacement error, and dynamic stress variation rate of an actuator are input into the phase compensation calculation stage, and the phase delay compensation amount corresponding to the actuator is obtained by linear superposition calculation. The control unit retrieves the timing constraint matrix corresponding to the current process, adjusts the control timing based on the calculated phase delay compensation amount, and generates closed-loop control commands. The closed-loop control commands output the corresponding control voltage signals to the electro-hydraulic servo valves connected to the actuators, respectively, to adjust the driving hydraulic flow and response rate of each loop, driving the actuators to coordinate their actions according to the adjusted timing phase window, forming a closed-loop coordinated control system with multi-source sensor feedback and bidirectional servo drive.

[0050] like Figure 4As shown, the multi-actuator segmented timing collaborative control is constructed through six core functional modules and their corresponding input / output parameters. The state perception and timing constraint layer includes: a state acquisition and modeling module that collects the attitude tilt angles of the beam-building machine's stress nodes and the displacement and pressure of each drive shaft in real time. It calculates the single-loop tracking error of each shaft by subtracting the actual displacement from the target reference displacement, providing a basic state vector for multi-axis collaboration and attitude control; a process timing constraint module that constructs a timing constraint matrix for automatic demolding segments in cantilever construction, clearly defining the action triggering sequence and allowed start-up timing phase window for each actuator under the current segment process, avoiding mechanical interference and disordered actions; and a cross-coupling and phase compensation calculation layer. The cross-coupling calculation module updates the dynamic coupling coefficient online based on the structural stiffness ratio of the physical locations of each pair of actuators on the beam-building machine. It subtracts the product of the tracking error of one actuator and the coupling coefficient from the single-loop tracking error of another actuator to calculate the cross-coupling displacement error between shafts, quantifying the amount of displacement loss between shafts under asymmetric elastic deformation; and phase compensation calculation. Module: The module derives the dynamic stress variation rate by differentiating the dynamic stress at key nodes of the main beam. It linearly superimposes and maps the single-loop tracking error, cross-coupled displacement error, and dynamic stress variation rate to calculate the phase delay compensation for each actuator within the current timing phase window, transforming the structural stress evolution trend into a time phase correction for the control loop. Closed-loop collaborative drive and safety arbitration layer: Closed-loop collaborative drive module: Combining the timing and error terms corrected by the phase delay compensation, it generates closed-loop control commands and outputs corresponding voltage signals to the electro-hydraulic servo valves of each drive loop. This adjusts the drive hydraulic flow and response rate, driving each actuator to smoothly and collaboratively advance according to the adjusted timing phase window. Timing arbitration response module: During construction, it continuously monitors the attitude tilt angle and dynamic stress. When any parameter exceeds the set safety threshold, it activates the timing arbitration logic, cutting off the electro-hydraulic servo valve drive voltage signal that causes the deviation to expand and locking the position. Simultaneously, it corrects the timing constraint matrix to widen the timing phase window for subsequent processes, achieving fault tolerance and structural unloading protection under abnormal conditions.

[0051] Example 5: After the cantilever beam-making machine is assembled on-site, the control unit retrieves the debugging procedures and applies gradient preload signals of 0.5MPa to 2.0MPa to the hydraulic height adjustment and hydraulic travel actuators at each support position. Tension and compression strain gauges and displacement sensors are used to collect the static stress and displacement of the support nodes. Based on the ratio of the preload change to the corresponding node displacement change, the local stiffness value of each actuator's physical position is determined, i.e., the hydraulic load increment required for each support node under a unit elastic displacement deformation. On this basis, the ratio of the local stiffness of adjacent support nodes is set as the dynamic coupling coefficient. initial baseline value In actual operation, the control unit updates the local stiffness according to the same stiffness calculation relationship based on the current pressure and displacement changes of each support node. The local stiffness of each actuator support node is used to form a real-time local stiffness matrix according to its physical location, and the dynamic coupling coefficient is updated online based on the ratio of the corresponding local stiffness of each pair of support nodes. Meanwhile, the zero-point bias voltage of the pressure sensor and the tension / compression strain gauge is recorded at a standard temperature of 20℃. An initial state calibration data table containing the local stiffness values ​​of each actuator support node is generated and written into the non-volatile memory of the control unit. This allows the control unit to directly read the local stiffness values ​​of each support position through addressing during the actual construction control process, thus completing the static baseline calibration before the deployment of the drive unit.

[0052] Loading the timing constraint matrix corresponding to the segmented process Beforehand, the control unit initiates the dynamic time delay calibration program for the hydraulic circuit, controlling the electro-hydraulic servo valve to output a sinusoidal micro-motion test signal with a frequency of 0.1Hz to 1.0Hz. The sensor collects the control voltage of the electro-hydraulic servo valve and the actual displacement of the actuator. The phase time difference between the measured maximum phase time difference is added to a 20ms safety margin to determine the physical saturation upper limit of the phase time delay compensation amount under the current hydraulic oil viscosity and ambient temperature. To enable closed-loop control commands Phase delay compensation amount Within the response time domain of the electro-hydraulic servo valve, the parameters of the control system are updated under changing operating conditions. During sinusoidal micro-motion testing from 0.1Hz to 1.0Hz, the control unit records the time delay between the peak value of the servo valve input voltage and the peak value of the actuator displacement response. The maximum time delay value within the test frequency band is extracted; for example, the maximum response delay measured at 1.0Hz is 180ms. Adding a 20ms safety margin yields 200ms, which is used as the time domain response limit of the electro-hydraulic servo valve under the current operating condition. This determines the physical saturation upper bound of the phase delay compensation. It takes 0.20 seconds.

[0053] Example 6: Before deploying the multi-actuator segmented timing collaborative control system for the cantilever beam-making machine, the control unit retrieves the offline calibration program to check the elements of the cross-coupling control matrix. And the gain parameter is quantized and determined, for those including The structure of the hydraulic height adjustment actuator was configured such that a gradient step test load of 100kN to 1000kN was applied to the main beam support node. Offline measurement of the actuator was performed using a displacement sensor with a measurement accuracy of 0.01mm and a tension / compression strain gauge with a measurement accuracy of 0.1MPa. When a unit displacement of 1.0 mm is generated, the actuator... The elastic deformation displacement generated by the support node; the ratio of the elastic deformation displacement to the unit displacement is used as the coupling weight between the corresponding actuators, and the cross-coupling control matrix elements are determined by combining the calibration results of the electro-hydraulic servo valve control voltage and the actuator displacement response. The voltage gain value makes As the voltage gain coefficient corresponding to the cross-coupling displacement error weighting term, the structural elastic displacement of actuator 1 caused by the action of actuator 2 was measured to be 0.5 mm in the offline calibration test. Based on this, the elements of the cross-coupling control matrix were determined. The value is then written into the non-volatile memory of the control unit to complete the parameter calibration of the cross-coupling relationship of multiple actuators.

[0054] Closed-loop control commands in the control unit In the calculation procedure, the closed-loop control command is expressed by the following formula: The control unit uses a sensor with a sampling frequency of 100Hz to obtain the system's time-domain response, where... Based on the feedforward control signal, For proportional gain, As the implementing agency Single-loop tracking error, For differential gain, To track the rate of change of error, This represents the voltage gain coefficient corresponding to the cross-coupling displacement error weighting term in the cross-coupling control matrix. Phase delay compensation amount Cross-coupling displacement error after time shift correction.

[0055] In the time-domain coordinated control process, the phase delay compensation amount As the time independent variable acting on the cross-coupling error, the time phase offset characterizes the actuator under the adjusted timing phase window. relative implementing agency Dynamic lag compensation; during discrete control operations, the control unit uses the index of the current time... Offset Obtaining the corresponding sampling history sequence The value, multiplied by the gain factor. A cross-coupled correction weighting term is formed, which is linearly combined with the basic feedforward control signal and the single-loop proportional-derivative control quantity to generate a closed-loop control voltage command output to the electro-hydraulic servo valve.

[0056] For single-loop error gain coefficient Cross-coupling error compensation coefficient and stress feedforward suppression coefficient The control unit applies sinusoidal displacement commands with a bandwidth of 0.1Hz to 2.0Hz and a stress variation rate disturbance of 5.0MPa / s to the test bench. The displacement tracking error is then minimized using least squares fitting. The root mean square value reaches a minimum, thus determining the single-loop error gain coefficient. Cross-coupling error compensation coefficient and stress feedforward suppression coefficient .

[0057] During specific calibration, the test bench maintained a static load of 1000 kN, inputting displacement commands in 0.5 mm step increments. 100 sets of response sample data were collected. A quadratic objective function was established with the goal of minimizing the root mean square error of the displacement tracking error, and iteratively solved. The single-loop error gain coefficient was set within the range of 0.05 s / mm to 0.20 s / mm; when the value was 0.10 s / mm, the system overshoot was less than 2%. The cross-coupling error compensation coefficient was set within the range of 0.02 s / mm to 0.10 s / mm; when the value was 0.05 s / mm... The inter-axis synchronous deviation reaches a smaller value during the calibration process; the stress feedforward suppression coefficient is set in the range of 0.01s² / MPa to 0.05s² / MPa. When the value is 0.02s² / MPa, the corresponding test response can suppress the pressure surge impact. During real-time control, the control unit uses the displacement and stress data collected by the sensor to calculate the single-loop error term, cross-coupling compensation term, and stress feedforward suppression term. It also corrects the cross-coupling displacement error weighting term based on the calculated phase delay compensation amount, generates a closed-loop control voltage, and outputs it to the electro-hydraulic servo valve.

[0058] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit of this application and the scope of protection of this invention, and all of these forms are within the protection scope of this application.

Claims

1. A segmented time-series collaborative control method for multiple actuators in a cantilever beam-making machine, characterized in that, Includes the following steps: Step S1: Construct a state space model of multiple actuators, collect the displacement, hydraulic pressure and attitude tilt angle of each actuator, as well as the dynamic stress of the main beam nodes, and determine the single-loop tracking error by subtracting the actual displacement and reference displacement of each actuator. Step S2: Divide the construction process into multiple functional segments and construct a timing constraint matrix to limit the action triggering order and timing phase window of each actuator under the current functional segment. Step S3: Determine the dynamic coupling coefficient based on the ratio of the local structural stiffness at the support nodes of one actuator and another actuator. Subtract the product of the single-loop tracking error of the other actuator and the dynamic coupling coefficient from the single-loop tracking error of one actuator to calculate the cross-coupling displacement error. Step S4: Differentiate the dynamic stress to obtain the dynamic stress variation rate, superimpose the single-loop error term, cross-coupling compensation term and stress feedforward suppression term based on the dynamic stress variation rate, and calculate the phase delay compensation amount of each actuator. Step S5: Combine the phase delay compensation amount to adjust the closed-loop control command, output voltage signal to the electro-hydraulic servo valve, adjust the driving hydraulic flow of each actuator, and drive each actuator to coordinate action according to the adjusted timing phase window. Step S6: When the attitude tilt angle or dynamic stress exceeds the safety threshold, activate the timing arbitration logic, cut off the voltage signal of the actuator that causes the deviation to increase, keep the position locked of the remaining actuators, and correct the timing constraint matrix.

2. The segmented timing cooperative control method for multiple actuators of a cantilever beam-making machine according to claim 1, characterized in that, The functional segmented process includes automatic demolding segment, automatic walking and stepping segment, template posture adjustment segment, and pouring loading and support segment; The non-zero elements in the timing constraint matrix limit the lower and upper limits of the start time allowed for each actuator within the current functional segment process; The dynamic coupling coefficient is updated in real time based on the ratio of the local structural stiffness at the support nodes of each actuator, in order to balance the load distribution under asymmetric structural deformation.

3. The segmented timing cooperative control method for multiple actuators in a cantilever beam-making machine according to claim 1, characterized in that, In step S4, step S41 is refined to calculate any one of the actuators. When calculating the phase delay compensation, the single-loop error gain coefficient is multiplied by the single-loop tracking error of actuator i to obtain the single-loop error term. The cross-coupling error compensation coefficient is multiplied by the sum of the cross-coupling displacement errors to obtain the cross-coupling compensation term. The stress feedforward suppression coefficient is multiplied by the time variation rate of dynamic stress to obtain the stress feedforward suppression term. The single-loop error term, cross-coupling compensation term, and stress feedforward suppression term are then linearly superimposed to determine the actuator. The phase delay compensation amount, where i is a positive integer greater than or equal to 1 and is the index of each actuator number.

4. The segmented timing cooperative control method for multiple actuators in a cantilever beam-making machine according to claim 3, characterized in that, The phase delay compensation amount is set with a physical saturation upper limit; when the calculated phase delay compensation amount exceeds the physical saturation upper limit, the current phase difference of each actuator is locked and an alarm signal is output.

5. The segmented timing cooperative control method for multiple actuators in a cantilever beam-making machine according to claim 1, characterized in that, In step S5, step S51 is refined. When generating closed-loop control commands for each actuator, the basic feedforward control signal, the proportional-derivative control quantity calculated based on the single-loop tracking error, and the cross-coupled displacement error weighted term corrected based on the phase delay compensation quantity are linearly combined to output a voltage control signal to the electro-hydraulic servo valve, thereby adjusting the driving hydraulic flow and response rate of each actuator.

6. The segmented timing cooperative control method for multiple actuators of a cantilever beam-making machine according to claim 1, characterized in that, In step S6, step S61 is refined. When the measured attitude tilt angle exceeds the set tilt angle threshold or the measured dynamic stress exceeds the set stress threshold, the timing arbitration logic interrupts the voltage signal of the actuator that causes the deviation to expand, maintains the hydraulic locking and position locking of the remaining actuators, and readjusts the timing phase window of the subsequent process in the timing constraint matrix.

7. The segmented timing cooperative control method for multiple actuators of a cantilever beam-making machine according to claim 1, characterized in that, The dynamic coupling coefficient is updated online based on the ratio of the real-time local stiffness matrix at each actuator support node caused by the bending deformation of the main beam structure of the cantilever beam machine, in order to offset the displacement deviation caused by the elastic deformation of the structure.

8. The segmented timing cooperative control method for multiple actuators of a cantilever beam-making machine according to claim 1, characterized in that, In step S1, step S11 is refined by using tilt sensors, pressure sensors and tensile / compressive strain gauges deployed at the stress nodes of the beam-building machine to acquire displacement data, pressure data and main beam stress time series of each actuator in real time; and constructing a state-space equation that includes displacement state, hydraulic dynamics state and structural elastic deformation state based on the acquired data.

9. A segmented timing cooperative control method for multiple actuators in a cantilever beam-making machine according to claim 1, characterized in that, After completing the current functional segment process, the residual stress of the main beam node and the overall attitude deviation of the beam-making machine are obtained; when the residual stress and the overall attitude deviation are both within the set safety range, the process index is updated, and the timing constraint matrix corresponding to the next functional segment process is loaded, driving each actuator to enter the next stage of timing collaborative control process.

10. A segmented timing cooperative control system for multiple actuators of a cantilever beam-making machine, used to implement the segmented timing cooperative control method for multiple actuators of a cantilever beam-making machine as described in claim 1, characterized in that, include: The state acquisition and modeling module is used to construct a state space model of multiple actuators, acquire the displacement, hydraulic pressure and attitude tilt angle of each actuator, as well as the dynamic stress of the main beam node of the beam-making machine, and determine the single-loop tracking error by subtracting the actual displacement and reference displacement of each actuator. The process timing constraint module is used to divide the construction process into multiple functional segments based on the current construction process of the beam-making machine, construct a timing constraint matrix, and limit the action triggering order and timing phase window of each actuator under the current functional segment process; The cross-coupling calculation module is used to determine the dynamic coupling coefficient based on the ratio of the local structural stiffness at the support nodes of one actuator and another actuator, and to calculate the cross-coupling displacement error by subtracting the product of the single-loop tracking error of the other actuator and the dynamic coupling coefficient from the single-loop tracking error of one actuator. The phase compensation calculation module is used to differentiate the dynamic stress to obtain the dynamic stress variation rate, superimpose the single-loop error term, the cross-coupling compensation term and the stress feedforward suppression term based on the dynamic stress variation rate, and calculate the phase delay compensation amount of each actuator. The closed-loop collaborative drive module is used to adjust the closed-loop control command in combination with the phase delay compensation amount, output voltage signal to the electro-hydraulic servo valve, adjust the driving hydraulic flow of each actuator, and drive each actuator to coordinate action according to the adjusted timing phase window. The timing arbitration response module is used to activate the timing arbitration logic when the attitude tilt angle or dynamic stress exceeds the safety threshold, cut off the voltage signal of the actuator that causes the deviation to increase, keep the position of the remaining actuators locked, and correct the timing constraint matrix.

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