Control method and apparatus applicable to a two-pillar bridge pier vent cap rotating device.

Abstract

This system enables real-time synchronization between monitoring data and the control process of a rotating body, resulting in stable and accurate control of the rotating body. [Solution] The control method and apparatus applied to the rotating body device for a two-pillar bridge pier vent cap can acquire the spatial orientation and force changes of the two-pillar bridge pier in real time during the rotation process by monitoring and acquiring the inclination angle and force-bearing data of the two-pillar bridge pier, and by combining this with the target inclination angle, the offset of the two-pillar bridge pier can be identified in real time. As a result, the determined hydraulic pressure adjustment amount of the rotation execution mechanism can correct the inclination of the two-pillar bridge pier and ensure the stability of the two-pillar bridge pier during the rotation process. The tensile force adjustment amount can be determined by pairing the real-time rotation speed of the rotating body device with the target rotation speed ratio, thereby real-time correction of the tensile force during the rotation process and ensuring the stability of the rotation speed of the rotating body.

Description

[Technical Field]

[0001] The embodiments of this application relate to the field of bridge assembly, and more particularly to a control method and apparatus applicable to a two-column bridge pier bent cap rotating device. [Background technology]

[0002] This document provides only background information relevant to this application and does not necessarily constitute prior art.

[0003] In the bridge construction process, there are situations where the bridge needs to cross obstacles such as railways and rivers. Since it is undesirable to interrupt these obstacles, and to avoid impacts on existing traffic or the environment, it is necessary to construct bridge piers on both sides of the obstacle and install a pivot center at the bottom of the bridge piers. After the vent caps are installed, a traction system is used to slowly rotate the vent caps along the pivot center, completing the fixing of the bridge structure.

[0004] During the rotation of the vent cap, it is necessary to maintain a stable and unbiased rotation. Therefore, the tensile force during the rotation of the vent cap must be precisely controlled, and the speeds of the rotating bodies on both sides of the vent cap must be synchronized to ensure the safety of the forces acting during the rotation. [Overview of the Initiative]

[0005] To provide a basic understanding of some aspects of this application, an outline of this application is provided below. It should be understood that this outline is not an exhaustive outline of this application. It is not intended to determine the main or significant parts of this application, nor is it intended to limit the scope of this application. Its purpose is simply to provide a simplified explanation of some concepts, preceding the more detailed explanation discussed later.

[0006] One aspect of this application provides a control method applicable to a two-pillar pier vent cap rotating device, comprising the steps of: monitoring multiple inclination angle data at different positions of the two-pillar pier; determining the overall inclination angle data of the two-pillar pier based on the multiple inclination angle data; monitoring force-bearing data of different parts of the two-pillar pier vent cap rotating device and force-bearing data at different positions of the two-pillar pier; determining the overall force-bearing data of the two-pillar pier vent cap rotating device and the overall force-bearing data of the two-pillar pier based on the force-bearing data of different parts and force-bearing data at different positions; and controlling the two-pillar pier vent cap based on the overall force-bearing data of the two-pillar pier vent cap rotating device and the overall force-bearing data of the two-pillar pier. The method includes the steps of determining the force balance of the rotating body device, monitoring the tensile extension speed of the two-pillar pier vent cap rotating body device, determining the real-time rotation speed of the rotating body of the two-pillar pier vent cap rotating body device based on the tensile extension speed, determining a target angle for controlling the inclination state of the two-pillar pier, determining the amount of hydraulic pressure adjustment of the execution mechanism of the two-pillar pier vent cap rotating body device based on the target angle, the inclination angle of the two-pillar pier, and the force balance, determining a target rotation speed for controlling the rotating body of the two-pillar pier vent cap rotating body device, and determining the amount of tensile force adjustment of the two-pillar pier vent cap rotating body device based on the real-time rotation speed and the target rotation speed.

[0007] Another aspect of the present invention provides a control device applicable to a two-column pier vent cap rotating body device, comprising: a plurality of sensors installed to monitor multiple inclination angle data at different locations of the two-column pier, force-receiving data of different parts of the two-column pier vent cap rotating body device and force-receiving data at different locations of the two-column pier, and the tensile extension speed of the two-column pier vent cap rotating body device; and a processor connected to the sensors and to the execution mechanism of the two-column pier vent cap rotating body device, wherein the processor determines the overall inclination angle data of the two-column pier based on the multiple inclination angle data according to the data acquired from the sensors, and determines the overall force-receiving data of the two-column pier vent cap rotating body device and the overall force-receiving data of the two-column pier based on the force-receiving data of different parts and force-receiving data at different locations. Based on the load data of the entire two-pillar pier vent cap rotating body device and the load data of the entire two-pillar pier, the load balance of the two-pillar pier vent cap rotating body device is determined. Based on the tensile extension speed, the real-time rotation speed of the rotating body of the two-pillar pier vent cap rotating body device is determined. A target angle for controlling the inclination state of the two-pillar pier is determined. Based on the target angle, the inclination angle of the two-pillar pier, and the load balance, the amount of hydraulic pressure adjustment for the execution mechanism of the two-pillar pier vent cap rotating body device is determined. A target rotation speed for controlling the rotating body of the two-pillar pier vent cap rotating body device is determined. Based on the real-time rotation speed and the target rotation speed, the amount of tensile force adjustment for the two-pillar pier vent cap rotating body device is determined. The processor controls the execution mechanism of the two-pillar pier vent cap rotating body device based on the determined hydraulic pressure adjustment amount and tensile force adjustment amount.

[0008] The control method applied to the two-column pier vent cap rotating device provided by the embodiment of this application monitors and acquires the inclination angle and force data of the two-column pier, thereby acquiring the spatial posture and force changes of the two-column pier in real time during the rotation process. By combining this with a target angle for the inclination state of the two-column pier, the offset of the two-column pier can be identified in real time. The amount of hydraulic pressure adjustment of the rotation execution mechanism determined in this way can be used to correct the inclination of the two-column pier and ensure the stability of the two-column pier during the rotation process. The real-time rotation speed of the rotating device is acquired by monitoring the tensile extension speed and comparing it with a target rotation speed. The amount of tensile force adjustment determined in this way can be used to correct the tensile force during the rotation process in real time and ensure the stability of the rotation speed of the rotating body. Compared to conventional methods that intervene in the control of a rotating body after the rotating body monitoring data exceeds a threshold, the method provided in this application achieves a comprehensive reflection of the load-bearing conditions of the two-pillar bridge pier and the rotating body device using multidimensional monitoring data, corrects the tilt tendency of the two-pillar bridge pier in real time, and modifies the tensile force of the rotating body device, thereby real-time linkage between the monitoring data and the control process of the rotating body, making the control of the rotating body more stable and accurate.

[0009] The control device applied to the rotating body device for a two-column pier vent cap provided by the embodiment of this application acquires the spatial orientation and force changes of the two-column pier in real time during the rotation process by installing multiple types of sensors to monitor and acquire the inclination angle and force data of the two-column pier, and by combining this with the target angle of the inclination state of the two-column pier, it is possible to identify the offset of the two-column pier, and furthermore, by adjusting the hydraulic pressure of the rotation execution mechanism determined by the processor, the inclination of the two-column pier is corrected in real time to ensure the stability of the two-column pier during the rotation process, the tensile extension speed is monitored to acquire the real-time rotation speed of the rotating body device, and by comparing this with the target rotation speed, the processor determines the amount of tensile force adjustment, thereby correcting the tensile force in real time during the rotation process and ensuring the stability of the rotation speed of the rotating body. Compared to conventional mechanisms that intervene in the control of a rotating body after the rotating body monitoring data exceeds a threshold, the device provided in this application acquires multidimensional monitoring data by installing multiple types of sensors, thereby achieving a comprehensive reflection of the load-bearing conditions of the two-pillar bridge pier and the rotating body device. This allows for real-time correction of the tilting tendency of the two-pillar bridge pier, modification of the tensile force of the rotating body device, and real-time linkage between the monitoring data and the control process of the rotating body, resulting in more stable and accurate control of the rotating body.

[0010] To further illustrate the above and other advantages and features of the present application, specific embodiments of the present application will be described in more detail below with reference to the drawings. The drawings are incorporated herein by reference and form part of the following detailed description. Elements having the same function and configuration are denoted by the same reference numerals. It should be understood that these drawings are for illustrating typical examples of the present invention and do not limit the scope of the present invention. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a schematic plan view of the rotating body structure of a two-column bridge pier vent cap rotating body device controlled by the method and apparatus provided in the embodiments of this application. [Figure 2]Figure 2 is a schematic elevation view of the rotating body structure of a two-column pier bent cap rotating body device controlled by the method and apparatus provided in the embodiments of the present application.

Embodiments for Carrying out the Invention

[0012] Hereinafter, exemplary embodiments of the present application will be described with reference to the drawings. For the sake of clarity and conciseness, not all features of actual embodiments are described in the specification. However, in the process of developing such actual embodiments, it is necessary to make decisions specific to many embodiments in order to meet the specific goals of the developer, for example, their limitations regarding systems and services, and it should be understood that these limitations may vary depending on the embodiments. Also, although the development work may be very complex and time-consuming, it should also be understood by those skilled in the art who are benefited by the content of the present application that such development work is merely a routine task.

[0013] Here, it should be noted that only the device structure and / or processing steps closely related to the technical solution of the present application are shown in the drawings to avoid obscuring the present application with unnecessary details, and other details not closely related to the present application are omitted.

[0014] The following disclosure provides a plurality of different embodiments or examples for realizing the present application. To simplify the disclosure of the present application, the components and methods of specific examples will be described below. Of course, these are merely examples and do not limit the present application. In the description of the embodiments of the present application, "a plurality of" means at least two, for example, two, three, etc., unless otherwise specifically limited.

[0015] Conventional rotating body construction monitoring and control systems are independent of each other. Rotating body construction monitoring uses a calculated threshold as the monitoring limit and does not make adjustments when the monitoring data has not reached the monitoring limit. Simultaneously, rotating body construction control is performed according to existing plans when the monitoring data has not reached the monitoring limit. As a result, tensile forces are separated from the actual dynamic working conditions during the rotation process, making it impossible to make dynamic adjustments based on real-time changes in friction, synchronization deviations, etc. This can lead to problems such as misalignment of the bridge axis and affect the durability of the construction quality.

[0016] To address the above problem, one embodiment of the present application provides a control method applicable to a two-pillar pier vent cap rotating body device, comprising the steps of: monitoring multiple inclination angle data at different positions of the two-pillar pier; determining the overall inclination angle data of the two-pillar pier based on the multiple inclination angle data; monitoring force-bearing data of different parts of the two-pillar pier vent cap rotating body device and force-bearing data at different positions of the two-pillar pier; determining the overall force-bearing data of the two-pillar pier vent cap rotating body device and the overall force-bearing data of the two-pillar pier based on the force-bearing data of different parts and force-bearing data at different positions; and determining the overall force-bearing data of the two-pillar pier vent cap rotating body device and the overall force-bearing data of the two-pillar pier The method includes the steps of: determining the force balance of the vent cap rotating body device; monitoring the tensile extension speed of the two-pillar pier vent cap rotating body device; determining the real-time rotation speed of the rotating body of the two-pillar pier vent cap rotating body device based on the tensile extension speed; determining a target angle for controlling the inclination state of the two-pillar pier; determining the amount of hydraulic pressure adjustment of the execution mechanism of the two-pillar pier vent cap rotating body device based on the target angle, the inclination angle of the two-pillar pier, and the force balance; determining a target rotation speed for controlling the rotating body of the two-pillar pier vent cap rotating body device; and determining the amount of tensile force adjustment of the two-pillar pier vent cap rotating body device based on the real-time rotation speed and the target rotation speed.

[0017] The control method applied to the two-column pier bent cap rotating device provided by the embodiments of the present application monitors and obtains the inclination angle and force-bearing data of the two-column pier, so as to obtain the spatial posture and force-bearing changes of the two-column pier in the rotation process in real time. By combining the target angle of the inclination state of the two-column pier, the offset of the two-column pier can be identified in real time. The hydraulic adjustment amount of the rotation execution mechanism determined thereby can realize the correction of the inclination of the two-column pier and ensure the stability of the two-column pier in the rotation process. By monitoring the tensile elongation speed and obtaining the real-time rotation speed of the rotating device, comparing it with the target rotation speed, the determined tensile force adjustment amount can realize the real-time correction of the tensile force in the rotation process and ensure the stability of the rotation speed of the rotating body. Compared with the mechanism of controlling the rotating body after the monitoring data of the rotating body in the conventional method exceeds the threshold value, the method provided by the present application realizes the overall reflection of the force-bearing situation of the two-column pier and the rotating body device by multi-dimensional monitoring data, corrects the inclination trend of the two-column pier in real time, and corrects the tensile force of the rotating body device, so as to realize the real-time linkage of the monitoring data and the control process of the rotating body, and make the control of the rotating body more stable and accurate.

[0018] In some embodiments, the monitored inclination angle data of the two-column pier bent cap rotating body device includes a plurality of lateral inclination angle data and a plurality of longitudinal inclination angle data at a plurality of positions of the two-column pier. Based on the plurality of lateral inclination angle data and the plurality of longitudinal inclination angle data, the inclination angle data of the overall inclination state of the pier is determined. By combining the longitudinal and lateral inclination angle data at a plurality of positions of the two-column pier, the inclination movement trajectory of the two-column pier in the three-dimensional space can be accurately reflected. Compared with monitoring the inclination angle data in a single direction, the inclination trend of the two-column pier can be timely identified and corrected.

[0019] In some embodiments, the plurality of lateral inclination angle data, the plurality of longitudinal inclination angle data, and the inclination angle data of the overall inclination state of the two-column pier satisfy the following formula:

Number

Number

Number

Number

[0020] In some embodiments, the force - receiving data of different components, the force - receiving data at different positions, the force - receiving data of the entire two - column pier vent cap rotating body device, and the force - receiving data of the entire two - column pier satisfy the following formula:

Number

[0021] In some embodiments, the force data for the entire two-column bridge pier bent cap rotating device, the force data for the entire two-column bridge pier, and the force balance of the two-column bridge pier satisfy the following equations: σ=f σ (F s (t), F e (t)), σ represents the degree of force balance of a two-pillar bridge pier, and F e (t) shows the force received by the entire rotating body device of the two-pillar bridge pier vent cap at time t, F s (t) shows the force received by the entire two-pillar bridge pier at time t, and f σ This shows the integrated force function (integration function or continuous function) for a two-column bridge pier. By determining the degree of force equilibrium, the force equilibrium state of the entire two-column bridge pier and rotating body device can be quantitatively evaluated. A larger value indicates that the forces are uneven and the risk of overturning is higher.

[0022] In some embodiments, the tensile extension speed and the real-time rotation speed of the rotating body of the two-column bridge pier vent cap rotating device satisfy the following equation: ω(t)=f ω (ν(t),k) Here, ν(t) represents the tensile extension speed of the rotating body of the two-pillar pier vent cap rotating body at time t, k is the gear ratio of the rotating body of the two-pillar pier vent cap rotating body, and represents the rotation angle of the rotating body after extending by a unit distance. ω(t) represents the real-time rotation speed of the rotating body of the two-pillar pier vent cap rotating body at time t, and f ω This shows the velocity conversion function. Using the above formula, tensile force process parameters can be converted to rotating body velocity parameters.

[0023] In some embodiments, the target angle, the overall inclination angle of the two-pillar bridge pier, the degree of force balance, and the amount of hydraulic pressure adjustment of the operating mechanism of the rotating body device of the two-pillar bridge pier satisfy the following relationship:

number

number

[0024] In some embodiments, the real-time rotation speed, target rotation speed, and tensile force adjustment amount of the two-column bridge pier bent cap rotating body device satisfy the following equation:

number

number

number

[0025] In some embodiments, the coefficient of friction

number

[0026] Another embodiment of the present application provides a control device applicable to a two-column pier vent cap rotating body device, Figure 1 is a schematic plan view of the rotating body structure of a two-column pier vent cap rotating body device controlled by the method and apparatus provided in the embodiment of the present application, as shown in Figure 1, the control device for the two-column pier vent cap rotating body device includes a plurality of sensors installed to monitor multiple inclination angle data at different positions of the two-column pier 10, force-receiving data of different parts of the two-column pier vent cap rotating body device and force-receiving data at different positions of the two-column pier, and a processor 5 which is communicated to the sensors and communicated to the execution mechanism of the two-column pier vent cap rotating body device, wherein the processor 5 determines the overall inclination angle data of the two-column pier based on the multiple inclination angle data according to the data obtained from the sensors, force-receiving data of different parts and force-receiving data at different positions Based on the data, the processor 5 determines the force bearing data for the entire two-pillar pier vent cap rotating body device and the force bearing data for the entire two-pillar pier, determines the force balance of the two-pillar pier vent cap rotating body device based on the force bearing data for the entire two-pillar pier vent cap rotating body device and the force bearing data for the entire two-pillar pier, determines the real-time rotation speed of the rotating body of the two-pillar pier vent cap rotating body device based on the tensile extension speed, determines the target angle for controlling the inclination state of the two-pillar pier, determines the amount of hydraulic pressure adjustment for the execution mechanism of the two-pillar pier vent cap rotating body device based on the target angle, the inclination angle of the two-pillar pier and the force balance, determines the amount of hydraulic pressure adjustment for the execution mechanism of the two-pillar pier vent cap rotating body device, determines the target rotation speed for controlling the rotating body of the two-pillar pier vent cap rotating body device, determines the amount of tensile force adjustment for the two-pillar pier vent cap rotating body device based on the real-time rotation speed and the target rotation speed, and controls the execution mechanism of the two-pillar pier vent cap rotating body device based on the determined amount of hydraulic pressure adjustment and amount of tensile force adjustment.

[0027] The control device applied to the rotating body device for a two-column pier vent cap provided by the embodiment of this application acquires the spatial orientation and force changes of the two-column pier in real time during the rotation process by installing multiple types of sensors to monitor and acquire the inclination angle and force data of the two-column pier, and by combining this with the target angle of the inclination state of the two-column pier, it is possible to identify the offset of the two-column pier. Furthermore, the inclination of the two-column pier is corrected in real time by the amount of hydraulic pressure adjustment of the rotation execution mechanism determined by the processor 5, thereby ensuring the stability of the two-column pier during the rotation process. The real-time rotation speed of the rotating body device is acquired by monitoring the tensile extension speed and compared with the target rotation speed, thereby enabling the processor 5 to determine the amount of tensile force adjustment and correct the tensile force in real time during the rotation process, thereby ensuring the stability of the rotation speed of the rotating body. Compared to conventional mechanisms that intervene in the control of a rotating body after the rotating body monitoring data exceeds a threshold, the device provided in this application acquires multidimensional monitoring data by installing multiple types of sensors, thereby achieving a comprehensive reflection of the load-bearing conditions of the two-pillar bridge pier and the rotating body device. This allows for real-time correction of the tilting tendency of the two-pillar bridge pier, modification of the tensile force of the rotating body device, and real-time linkage between the monitoring data and the control process of the rotating body, resulting in more stable and accurate control of the rotating body.

[0028] In some embodiments, as shown in Figure 1, some sensors may be installed at sensor first position 1, and sensor first position 1 may be installed around each pier 10, directly reflecting the stability and safety of the pier 10 by monitoring the changes in the force received by the pier 10 during the rotation process.

[0029] Figure 2 is a schematic elevation view of the rotating body structure of a two-column pier vent cap rotating device controlled by the method and apparatus provided in the embodiments of this application. In some embodiments, as shown in Figure 2, some sensors may be installed at a second sensor position 2 and a third sensor position 3, the second sensor position 2 may be installed as a connection node between the vent cap 20 and the pier 10, and the third sensor position 3 may be installed at a critical area where stress can concentrate, such as a load-bearing steel component on which a support slider extends outward. The sensors monitor the stress changes inside the two-column pier and the entire rotating device during the rotation process and provide data to evaluate the performance of the two-column pier and the entire rotating device.

[0030] In some embodiments, some sensors may be mounted on load-bearing steel components directly above the contact surface between the support slider or support leg and the slide rail to monitor the support reaction force at each support point in real time. By comparing the force values ​​at each point, the processor 5 can accurately determine whether the two-column bridge pier and the entire rotating body device are in a horizontal, balanced load-bearing state, as complementary feedback for tilt angle control.

[0031] By installing multiple sensors at the first sensor position 1, the second sensor position 2, and the third sensor position 3 to acquire force-receiving data, the mechanical transmission path during the rotation process can be covered, and the force-receiving state of the two-column bridge pier and the entire rotating body device during the rotation process can be comprehensively monitored.

[0032] In some embodiments, as shown in Figure 2, the first sensor position 1 may be installed in the center of each pier 10, and a wireless communication module is installed inside to collect tilt angle data in the longitudinal and lateral directions of the pier 10, transmit it to the processor 5 via wireless signal, and output overall tilt angle information after the data has been averaged.

[0033] In some embodiments, some sensors may be connected to the tensile structure in the rotating body device to collect tensile speed data and transmit it to the processor 5 to convert the rotating body angle and rotational speed.

[0034] In some embodiments, the processor 5 may include a high-performance wireless communication unit that, for example, supports simultaneous connection of multiple devices and has a communication delay of 100ms or less.

[0035] In some embodiments, after receiving sensor data, the processor 5 generates control commands based on preset thresholds (for example, a safe range for the tilt angle, setting the rotation speed to 1-2° / min and maintaining a constant speed) using built-in algorithms such as tilt angle conversion and rotation speed control, and transmits them wirelessly to the execution mechanism of the rotating body device.

[0036] In some embodiments, the processor 5 may perform data fusion analysis in addition to threshold determination. For example, by combining the force received at the support points with the data on the overall inclination angle, the risk of tipping over can be determined more accurately, and by combining the traction force with the rotational speed, changes in the coefficient of friction can be calculated and predicted more accurately.

[0037] In some embodiments, the operating mechanism of the rotating body device may include a support slider, a hydraulic pressure adjustment block 4, and an anti-tipping slider. The hydraulic pressure adjustment block 4 may be located below the anti-tipping slider and may include a wireless receiving unit and a drive circuit. After receiving a correction command for the deviation of the tilt angle from the processor 5, it performs an extension / retraction operation (adjustment accuracy can reach ±0.1 mm) to correct the tilt state of the bridge pier 10. Multiple sensors are installed at the first sensor position 1 to acquire tilt angle data and force data, and the deviation is dynamically corrected by the hydraulic pressure adjustment block 4. This makes the control of the tilt angle more accurate, corrects the imbalance in the force in a timely manner, and effectively avoids the risk of structural imbalance.

[0038] In some embodiments, the operating mechanism of the rotating body device may include a traction device, which is wirelessly connected to a processor 5, receives tensile force adjustment commands determined based on rotational speed deviation and friction compensation, precisely controls the oil flow rate by a proportional valve, achieves dynamic, stepless adjustment of the tensile force (for example, control accuracy can reach ±2%), and feeds back the current tensile force value collected by a sensor installed thereon to the processor 5 in real time. By combining dynamic compensation of the friction coefficient and real-time adjustment of the tensile force, the rotational speed deviation can be reduced, ensuring that the rotating body is always maintained at a predetermined design speed, making the start and stop control of the rotating body more accurate, and solving the problems of over-rotation or positioning failures with conventional manual control can be solved.

[0039] In some embodiments, the processor 5 accurately collects, transmits, and stores key parameters based on the load-bearing state of the two-pillar bridge pier and the entire rotating body device, thereby enabling traceability of all process data from the start of the rotating body to the vent cap reaching its position and stitching. This provides a data basis for a comprehensive evaluation of the performance of the entire structure (bridge pier and vent cap) after rotation is complete, as well as the technical status of the rotating body device and the operational structure.

[0040] With respect to the embodiments of the present application, new embodiments can be obtained by combining the embodiments and features of the embodiments, as long as they do not contradict each other.

[0041] The above are merely specific embodiments of the present invention, and the scope of protection of the present invention is not limited thereto. The scope of protection of this disclosure should be based on the scope of protection of the claims. [Explanation of Symbols]

[0042] 1. Sensor first position; 10. Bridge pier; 2. Sensor second position; 20. Vent cap; 3. Sensor third position; 4. Hydraulic pressure adjustment block; 5. Processor.

Claims

1. A control method applicable to a rotating body device for a two-pillar bridge pier vent cap, The steps include monitoring multiple inclination angle data at different locations of the two-pillar bridge pier, The steps include determining the overall inclination angle data of the two-pillar bridge pier based on the aforementioned plurality of inclination angle data, The steps include monitoring the force-receiving data of different parts of the rotating body device of the two-pillar bridge pier and the force-receiving data of different positions of the two-pillar bridge pier, A step of determining the force-receiving data for the entire two-column bridge pier vent cap rotating device and the force-receiving data for the entire two-column bridge pier based on the force-receiving data for the different parts and the force-receiving data for the different positions, A step of determining the degree of force balance of the two-pillar bridge pier vent cap rotating body device based on the force data of the entire two-pillar bridge pier and the force data of the entire two-pillar bridge pier, The steps include monitoring the tensile extension speed of the rotating body device for the two-pillar bridge pier vent cap, The steps include determining the real-time rotation speed of the rotating body of the two-pillar bridge pier vent cap rotating body device based on the aforementioned tensile extension speed, The steps include determining a target angle to control the inclination state of the two-pillar bridge pier, The steps include determining the amount of hydraulic pressure adjustment for the operating mechanism of the rotating body device of the two-pillar bridge pier based on the target angle, the inclination angle of the two-pillar bridge pier, and the degree of force balance, The steps include determining a target rotational speed for controlling the rotating body of the two-pillar bridge pier vent cap rotating body device, The step includes determining the amount of tensile force adjustment for the two-column pier vent cap rotating body device based on the real-time rotation speed and the target rotation speed. A control method applicable to a two-pillar bridge pier vent cap rotating device, characterized by the above.

2. The monitored inclination angle data of the two-pillar bridge pier vent cap rotating device includes multiple lateral inclination angle data and multiple vertical inclination angle data at multiple positions of the two-pillar bridge pier. Based on the aforementioned plurality of lateral inclination angle data and the plurality of vertical inclination angle data, the overall inclination angle data of the bridge pier is determined. The method according to feature 1.

3. The aforementioned multiple lateral inclination angle data, the aforementioned multiple vertical inclination angle data, and the overall inclination angle data of the two-pillar bridge pier satisfy the following equation: [Math 1] Here, θ １x (t), θ ２x (t), θ ３x (t), θ ４x (t) represents the data for multiple lateral inclination angles at multiple positions of the two-pillar bridge pier at time t, and θ １y (t), θ ２y (t), θ ３y (t), θ ４y (t) represents the multiple vertical inclination angle data of the two-pillar bridge pier at time t. [Math 2] This indicates the lateral inclination angle of the entire two-pillar bridge pier at time t. [Math 3] This indicates the vertical inclination angle of the entire two-pillar bridge pier at time t. [Math 4] This is the slope angle data fusion function. The method according to feature 2.

4. The force data of the different parts, the force data at the different positions, the force data of the entire two-column bridge pier vent cap rotating device, and the force data of the entire two-column bridge pier satisfy the following equation: [Math 5] F s F(t) represents the force data of the entire two-column pier at time t, and F d F(t), F c F(t), F gd F(t) represents the force data at different positions. Here, F d F(t) represents the force data of the two-column pier at time t, and F gd F(t) represents the force data of the connection node between the bent cap and the pier at time t, and F c F(t) represents the force data of the support slider extension load-bearing steel part at time t, and F e F(t) represents the force data of the entire two-column pier bent cap rotating body device at time t, and F zh F(t), F q F(t) represents the force data of different components at time t respectively. Here, F zh F(t) represents the support reaction force between the support slider and the slide rail contact surface of the two-column pier bent cap rotating body device, and F q F(t) represents the force data of the traction device of the two-column pier bent cap rotating body device, and f Fs f is the force integration function of the two-column pier, and f Fe f is the force integration function of the two-column pier bent cap rotating body device The method according to feature 1.

5. The force-receiving data for the entire two-column bridge pier vent cap rotating device, the force-receiving data for the entire two-column bridge pier, and the force balance of the two-column bridge pier satisfy the following equation: σ=f σ (F s (t),F e (t))、 σ represents the degree of force balance of the two-pillar bridge pier, and F e (t) represents the force received by the entire two-pillar bridge pier vent cap rotating device at time t, F s (t) shows the force received by the entire two-pillar bridge pier at time t, and f σ This shows the integrated force function of the two-pillar bridge pier. The method according to feature 1.

6. The tensile extension speed and the real-time rotation speed of the rotating body of the two-pillar bridge pier vent cap rotating device satisfy the following equation: ω(t)=f ω (n(t), k), Here, ν(t) represents the tensile extension speed of the two-pillar pier vent cap rotating body device at time t, k is the gear ratio of the rotating body of the two-pillar pier vent cap rotating body device, ω(t) represents the real-time rotation speed of the rotating body of the two-pillar pier vent cap rotating body device at time t, and f ω This shows the velocity conversion function. The method according to feature 1.

7. The target angle, the overall inclination angle of the two-pillar bridge pier, the force balance, and the amount of hydraulic pressure adjustment of the operating mechanism of the rotating body device for the two-pillar bridge pier vent cap satisfy the following relationship: [Math 6] Here, ΔL represents the amount of hydraulic pressure adjustment of the operating mechanism of the two-pillar bridge pier vent cap rotating device. [Number 7] θ represents the overall inclination angle of the two-pillar bridge pier, θ represents the target angle of the inclination state of the two-pillar bridge pier, σ represents the degree of force balance, and f ΔＬ This shows the hydraulic pressure adjustment function. The method according to feature 1.

8. The real-time rotation speed, the target rotation speed, and the tensile force adjustment amount of the two-pillar pier vent cap rotating body device satisfy the following equation: [Number 8] Here, ΔF represents the amount of tensile force adjustment for the rotating body device of the two-pillar bridge pier vent cap, and k p ω represents the rotation speed adjustment gain coefficient, ω(t) represents the real-time rotation speed, and ω represents the target rotation speed. [Number 9] This indicates the coefficient of friction. [Number 10] The function shown is the friction compensation function, and t represents time. The method according to feature 1.

9. The friction coefficient is set to be estimated and determined based on the tensile force and rotational speed of the history. The method according to feature 8.

10. A control device applicable to a two-pillar bridge pier vent cap rotating body device, Multiple sensors are installed to monitor multiple inclination angle data at different positions of the two-pillar bridge pier, to monitor force-receiving data of different parts of the two-pillar bridge pier vent cap rotating body device and force-receiving data at different positions of the two-pillar bridge pier, and to monitor the tensile extension speed of the two-pillar bridge pier vent cap rotating body device. The system includes a processor that is connected to the sensor and to the execution mechanism of the two-pillar bridge pier vent cap rotating device, The processor, according to the data acquired from the sensor, Based on the aforementioned multiple inclination angle data, the overall inclination angle data for the two-pillar bridge pier is determined. Based on the force-bearing data of the different components and the force-bearing data at the different locations, the force-bearing data for the entire two-column bridge pier vent cap rotating device and the force-bearing data for the entire two-column bridge pier are determined. Based on the force-receiving data of the entire two-pillar pier vent cap rotating body device and the force-receiving data of the entire two-pillar pier, the degree of force balance of the two-pillar pier vent cap rotating body device is determined. Based on the aforementioned tensile extension rate, the real-time rotation speed of the rotating body of the two-pillar bridge pier vent cap rotating device is determined. Determine the target angle for controlling the inclination state of the two-pillar bridge pier, Based on the target angle, the inclination angle of the two-pillar bridge pier, and the degree of force balance, the amount of hydraulic pressure adjustment of the operating mechanism of the rotating body device for the two-pillar bridge pier vent cap is determined. Determine the target rotational speed for controlling the rotating body of the two-pillar bridge pier vent cap rotating body device. Based on the real-time rotation speed and the target rotation speed, the amount of tensile force adjustment for the two-column bridge pier bent cap rotating body device is determined. The processor controls the execution mechanism of the two-pillar pier vent cap rotating device based on the determined hydraulic pressure adjustment amount and the tensile force adjustment amount. A control device applicable to a two-pillar bridge pier vent cap rotating device, characterized by the above features.

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