824 results about "Internal forces" patented technology

The invention discloses an analysis and design method and system for a floating type wind power foundation structure, and the method comprises the steps: selecting a part of section according to a preliminary design scheme of a floating type wind power foundation, and dividing the section into a plurality of floating body subareas; performing multi-body frequency domain hydrodynamic analysis on the floating body partition to obtain a multi-body hydrodynamic coefficient; calculating a rigidity coefficient at a part of the cross section; a wind turbine generator, a tower drum, a mooring system and the floating type wind power foundation are built into a multi-body coupling model, floating type wind power system time domain coupling analysis is conducted, internal force and stress of part of sections are calculated, the strength of the part of sections is checked, and the design scheme of the floating type wind power foundation is determined. According to the method, on the basis of floating body partition of the floating type foundation, the floating type foundation serves as a multi-body system composed of the multiple rigid bodies, the internal force at the connecting cross section of the multiple rigid bodies is obtained during time domain coupling analysis, analysis and design of the floating type wind power foundation structure are improved, and the design precision and the safety coefficient of the floating type wind power foundation structure are improved.

The invention provides a centroid estimation and compensation method and system for a variable-configuration quadruped robot with an arm, and relates to the technical field of quadruped robot motion planning, and the method comprises the steps: obtaining the state feedback information of the variable-configuration quadruped robot in the motion process; on the basis of the state feedback information, foot end contact force of the supporting legs is calculated through a whole-body dynamic model of the variable-configuration quadruped robot and a disturbance force observer based on generalized momentum; according to the foot end contact force of the supporting leg, adopting a centroid estimation algorithm of an online recursive strategy to estimate a centroid deviation value after unknown disturbance; according to the estimated centroid deviation value, a motion trail planner and a centroid dynamical model are adjusted, centroid deviation compensation is conducted through a whole body controller of the null space based on the adjusted result, the optimal joint torque is obtained, and real-time servo control is conducted; according to the invention, stable control of the quadruped robot under disturbance of internal force or external force such as double-arm movement, leg configuration change and unknown load is realized.

The invention discloses a spatial flexible multi-arm robot cooperative control method and system using a stress stiffening effect, and relates to the field of spatial flexible multi-arm robot cooperative control. The problems that in the prior art, robot research considering flexibility mainly focuses on a single mechanical arm, and for a multi-arm space robot, especially the situation that configuration can be switched between an open chain and a closed chain, current research is still few are solved. The method comprises the steps that based on the open chain topological configuration and the self-closed chain topological configuration of the space flexible multi-arm robot, kinetic models, considering joint flexibility, of the space multi-arm robot in the open chain state and the self-closed chain state are established respectively; an internal force stiffening effect is introduced, whether internal stress exists or not is determined, and rigidity analysis of the space multi-arm robot considering the flexible joint under the self-closed chain configuration is completed; a composite control law is designed for the space multi-arm robot considering the flexible joint based on a singular perturbation method, and the method is also suitable for the field of improving the control precision in the orbit service and orbit capturing process.

The invention discloses an integral equation general solution method for horizontal bearing characteristics of a pile body composite foundation, which comprises the following steps of: S1, establishing a pile body composite foundation schematic diagram consisting of N (N = n1 * n2) foundation piles and a coordinate system {0, x, y, z} thereof, and dividing the pile body composite foundation schematic diagram into m subunits by taking a pile diameter d as a side length; determining the load resultant force V (y, 0) of the top of each subunit according to the horizontal load H0 of the upper structure borne by the foundation; s2, the pile-soil system is decomposed into semi-infinite space expansion soil and virtual pile units, and stress analysis schematic diagrams of the corresponding units are obtained; obtaining analytic expressions of pile body deflection # imgabs0 # and bending moment # imgabs1 # according to static equilibrium conditions and geometric conditions of the ith (i = 1,..., N) virtual pile unit; and S5, the lateral displacement # imgabs2 # of the extended soil unit at the corresponding position of the ith virtual pile is obtained based on the Mindlin solution, according to the lateral displacement coordination condition of the semi-infinite space extended soil and the virtual pile unit at the corresponding position, an integral control equation of the horizontal bearing characteristic of the pile body composite foundation is established, and then the pile body deflection and the internal force of the pile body composite foundation are obtained.

A method for calculating an opening response of a shield tunnel with supports. A rectangular opening is formed in the shield tunnel, and the supports is arranged in the shield tunnel. Calculating a segment response of the tunnel after opening comprises: dividing segments into sections along the longitudinal seam to obtain transfer equations within and between sections, with internal forces at the opening being 0; simulating, by Timoshenko curved beam and straight beam theory, segments and supports; simulating, by radial, tangential and rotating three-directional springs, longitudinal joints, and simulating, by two-directional shear springs, circumferential joints between adjacent rings; simulating, by a Winkler soil spring, interaction between tunnel and stratum; deriving node equations of intersection of the supports and intersection of the support and segment according to principle of equal displacement and balanced internal force; and combining and solving the above equations to obtain the opening response of the shield tunnel.

The invention discloses a nonlinear beam unit analysis method considering prestressed tendon bonding slippage, which comprises the following steps: establishing an overall structure analysis model according to the geometric dimension of a prestressed concrete beam, dividing calculation units, and assembling unit stiffness matrixes into a structural overall stiffness matrix; applying load and boundary conditions to the overall structure analysis model, and solving the overall analysis model by adopting a Newton iteration method; and extracting calculation results of structural deformation, stress, section internal force, prestressed tendon relative slippage and the like, drawing a load-deformation curve, and calculating structural rigidity and bearing capacity according to the slope and peak value of the curve. The calculation unit provided by the invention is an 8-degree-of-freedom beam unit, not only is the stress characteristic of the beam structure considered, but also the bond slip characteristic of the prestressed tendon is considered, the problem that a traditional beam unit analysis model cannot consider the bond slip effect of the prestressed tendon is solved, and compared with an entity unit analysis model, the convergence is better, and the calculation efficiency is higher.

The invention discloses a cement stabilized macadam mechanical property analysis method based on maximum aggregate nominal particle size, and relates to the technical field of cement stabilized macadam mechanical property analysis, the method comprises the following steps: preparing skeleton dense type cement stabilized macadam test pieces with different nominal maximum particle sizes; carrying out a macroscopic mechanical test to obtain a stress-strain curve and a crushing value; establishing a three-dimensional discrete element numerical model corresponding to the test piece, performing uniaxial compression simulation, and ensuring the reliability through model verification; and based on the verified model, quantitatively analyzing the contact force distribution, the contact quantity characteristic and the microcrack evolution law from the microscopic level. According to the analysis method disclosed by the invention, a mechanism that the nominal maximum particle size improves the macroscopic performance of the material by regulating and controlling an internal force chain network and inhibiting damage accumulation is disclosed through a macro-micro combination means, and a scientific micro-mechanical basis and a quantitative analysis tool are provided for grading optimization and high-performance design of the cement stabilized macadam base.

The invention discloses a double-row anti-slide pile internal force obtaining method and system, and relates to the field of geotechnical engineering.The double-row anti-slide pile internal force obtaining method comprises the steps that indoor experiments are conducted on pile top displacement, pile periphery soil pressure distribution and pile body bending moment and shearing force distribution of a coupling-beam-free double-row anti-slide pile, and the stress characteristics and deformation characteristics of the coupling-beam-free double-row anti-slide pile are obtained; constructing a coupling-beam-free double-row anti-slide pile internal force calculation model; an anti-slide pile is simplified into an elastic foundation beam with a fixed range above a slide surface as a directional support, a pile structure is divided into a load-bearing section and a load-bearing section-built-in section from the directional support, and the internal force of the coupling-beam-free double-row anti-slide pile is determined; the stress and deformation characteristics of the coupling-beam-free double-row anti-slide pile are input into the coupling-beam-free double-row anti-slide pile internal force calculation model, and the internal force of the whole pile body of the coupling-beam-free double-row anti-slide pile is accurately obtained.

The invention discloses a digital assembling method and system for a steel truss girder, and the method comprises the steps: carrying out the scanning measurement of a to-be-hoisted steel member through multi-source measurement equipment, and obtaining three-dimensional point cloud data and feature point coordinates; and fusing the data through a registration algorithm, and constructing a component digital model. Acquiring an environment temperature, a component temperature and a supporting state during scanning; on the basis of the information, temperature deformation and self-weight deformation correction is carried out on the model, and a model for assembling is obtained; geometric information is extracted and compared with a design value, and a deviation table and modification suggestions are generated. Dynamically and virtually assembling the corrected model according to an actual hoisting sequence; and simulating stay cable tensioning in a preset stage, and calculating the internal force and deformation of the structure. After virtual hoisting, three-dimensional coordinates of a non-assembly end are calculated in real time, and comparison and guidance are carried out; and actually measuring the three-dimensional coordinates and the physical postures of the hoisted rod pieces for subsequent virtual assembly of the rod pieces. According to the method, the construction quality and efficiency are improved.

The invention discloses a railway bridge earthquake response calculation method based on a friction pendulum support, which comprises the following two steps of: firstly, proposing an earthquake reduction and isolation support response simplification analysis method which comprises displacement response simplification calculation of a main beam, each support and a pier / platform; carrying out optimal calculation on the equivalent damping ratio of the equivalent linearization system; an equivalent linearization analysis method is simplified; and the equivalent linearization analysis method is explicit. Then providing a pier internal force response simplified analysis method which comprises the following steps: simplifying the pier internal force response into calculating an earthquake effect according to a rigid body; and calculating the combined shear force and bending moment of the pier bottom according to the sum of absolute values. According to the method, the operation workload is reduced, the calculation efficiency is improved, and a structure engineer can conveniently carry out a large amount of design optimization work.

The invention discloses a method for rapidly and stably solving a buckling path after multiple critical points based on a generalized displacement control method. The method comprises the steps that S1, a state variable and an anchoring type secant predictor are initialized; s2, predicting a reference displacement, a calibration displacement and a load increment factor based on the state variable and the anchored secant predictor; s3, calculating the displacement increment of the current iteration step based on the reference displacement, the calibration displacement and the load increment factor, and updating the total displacement and the total load of the structure; s4, updating the geometric state of the structure and the internal force of the unit based on the displacement increment of the current iteration step; s5, calculating the difference value between the total internal force and the external load of the structure based on the updated geometric state of the structure and the unit internal force to obtain the unbalanced force of the structure, and performing error checking based on the unbalanced force of the structure; s6, executing the steps S1 to S5 circularly until the unbalanced force of the structure meets the balance condition, and starting the next increment step; and incremental analysis is executed until user requirements are met, and a buckling path after multiple critical points is output.

The invention discloses a mixed analytic-numerical method for solving soil-structure nonlinear interaction, and belongs to the technical field of geotechnical engineering and structural engineering. According to the method, a soil-structure nonlinear resistance curve is subjected to quasi-linearization, and numerical iteration is carried out by utilizing a matrix analytic solution of a multi-section elastic foundation beam theory, so that the internal force and displacement response of the structure is solved. The hybrid analytic-numerical method for solving soil-structure nonlinear interaction provided by the invention can truly simulate a mechanical behavior path of nonlinear resistance without depending on a traditional difference format. According to the method, absolute stability is kept in the solving process, better precision is achieved under the same calculation efficiency, meanwhile, precision improvement is based on fine adjustment of a small number of key variables, and the transparency and interpretability of the algorithm are guaranteed.

The invention relates to the technical field of data processing, and discloses a shipyard steel framed bent scheme automatic optimization method and system based on a genetic algorithm. The method comprises the following steps: acquiring shipyard steel bent frame structure parameters and establishing an engineering experience database to obtain initial component section parameters; carrying out structure parametric modeling based on the initial parameters, generating a structure calculation model and carrying out load condition analysis; importing finite element software to carry out internal force analysis, and carrying out component standard checking calculation to obtain a stress ratio; performing multi-objective optimization through an NSGA-II algorithm to obtain a Pareto optimal solution set; and finally carrying out three-dimensional modeling and document generation to obtain an optimization design result. According to the method, the design scheme of the steel bent frame structure is automatically optimized while multiple load working conditions and design targets are considered, and it is ensured that the design result meeting the safety standard and with the optimal cost is obtained within the shortest time. By solving the problem, the design efficiency can be greatly improved, the design cost is reduced, and the structural safety is ensured.

The invention belongs to the technical field of engineering protection and treatment, and discloses an anchoring structure internal force calculation method for an internal anchoring type anchor rod, and the method comprises the steps: building a first shear stress coupling relation between axial displacement and an anchor rod mortar interface according to the stress balance condition, axial stress and axial displacement of the anchor rod; presetting a load transfer mode from an anchor rod to a mortar body to a surrounding rock body in the anchoring structure based on the shear hysteresis model, and constructing a second shear stress coupling relationship between the axial displacement and the shear stress of the anchor rod mortar interface and the shear stress of the mortar surrounding rock interface according to the load transfer mode; based on the first shear stress coupling relation, the second shear stress coupling relation and stress boundary conditions of the anchoring structure, an anchor rod axial force analytical equation and an internal shear stress analytical equation set of the anchoring structure are constructed; and calculating the axial force and the internal shear stress of the anchor rod of the anchoring structure according to the physical parameters and the construction parameters of the anchoring structure. According to the invention, the transmission analysis of the drawing load in the anchoring structure is realized, and the displacement axial force and interface shear stress distribution of the internal anchoring type anchor rod can be calculated.

The utility model provides a steel support servo supporting system capable of intelligently controlling inner support axial force and deformation, which comprises a building envelope, a plurality of layers of bidirectional #-shaped steel supports are fixed on the inner side of the building envelope at intervals, and steel support axial force servo devices are arranged in the bidirectional #-shaped steel supports. The steel support axial force servo device is used for adjusting the radial supporting force of the bidirectional #-shaped steel support; the plurality of displacement sensors are arranged on the outer wall of the enclosure structure and are used for measuring the lateral deformation of the enclosure structure; and the displacement sensor and the steel support axial force servo device are connected with a control system. According to the utility model, the active adjustment of the axial force of the inner support is realized, and the internal force and deformation of a support system are controlled in real time to meet the construction requirements of different construction stages.

The utility model discloses a steel structure cooling tower consisting of double-layer trilateral and quadrilateral units. The cooling tower consists of an upper part and a lower part, the lower part is formed by connecting and combining double-layer trilateral units according to a certain rule, and each double-layer trilateral unit is a double-layer reticulated shell formed by connecting a trilateral outer side chord member and a trilateral inner side chord member through a series of web members; the upper part is formed by connecting and combining double-layer quadrilateral units according to a certain rule, and each double-layer quadrilateral unit is a double-layer reticulated shell formed by connecting a quadrilateral outer side chord member and a quadrilateral inner side chord member through a series of web members. According to the double-layer steel structure cooling tower, the internal force conduction path of the double-layer steel structure cooling tower under the action of lateral force is optimized, the space stress performance is good, the stability of the structure is guaranteed, and the overall steel consumption is further reduced. Through connection and assembly of modular unit assemblies, standardized design, industrial production and fabricated construction of the cooling tower structure are achieved.

The invention relates to the technical field of pipeline temporary plugging devices, and discloses a quick mounting and dismounting device for temporary plugging of a large-diameter pipeline, which comprises a concrete structure pool wall and a central shaft rod, and a supporting and positioning mechanism is arranged on the concrete structure pool wall. A waterproof sleeve is fixedly connected to the inner wall of the concrete structure pool wall body, a shaft rod sleeve is slidably connected to the center shaft rod, and a plurality of first protruding blocks are fixedly connected to the outer wall of the shaft rod sleeve. The supporting and positioning mechanism ensures that the device is stably placed in the pipeline, water flow impact and pipeline vibration are avoided, displacement and shaking are avoided, the installation integrating degree of all parts is higher, the installation quality and efficiency are improved, repeated adjustment caused by installation errors is reduced, meanwhile, internal stress distribution of the device can be optimized, and the service life of the device is prolonged. Abrasion of parts caused by uneven stress is reduced, the overall service life of the device is prolonged, the applicability of the device in a complex pipeline environment is enhanced, and a foundation is built for smooth implementation of plugging operation.

The invention discloses a non-linear analysis method in a multi-arch structural plane considering translation and rotation of arch feet. The non-linear analysis method comprises the following steps: 1) deducing a geometric non-linear equilibrium equation in the multi-arch structural plane under the action of a vertical uniformly distributed load; 2) introducing a multi-arch boundary condition, and deducing to obtain a vertical displacement approximate analysis in a balance path considering translation and rotation nonlinearity of an adjacent arch structure; 3) further obtaining a relational expression between the dimensionless load of the multiple arches and the dimensionless load parameters; 4) deducing a multi-arch nonlinear branch point buckling equilibrium differential equation, and obtaining a critical load approximate analysis according to an internal force condition of multi-arch branch point buckling; 5) deducing to obtain approximate analysis of the multi-arch nonlinear jump buckling critical load.By means of the method, complex solving through finite element software can be avoided, and the calculation cost and workload of multi-span arch structure analysis are reduced.

The utility model relates to the technical field of building structures, and discloses a node of a steel reinforced concrete column and a reinforced concrete beam, which comprises a longitudinal beam, a cross beam and a section steel column body with a built-in section steel body, the longitudinal beam, the cross beam and the section steel column body are perpendicular to each other and intersect at the node, and the longitudinal beam comprises a first longitudinal bar and a second longitudinal bar which are parallel to each other. The first longitudinal bars penetrate through the profile steel body in the full length direction, and the second longitudinal bars are connected to the two sides of the profile steel body through longitudinal sleeves. The cross beam comprises a first transverse longitudinal bar and a second transverse longitudinal bar, the second transverse longitudinal bar is connected with the profile steel body through a transverse sleeve, and the first transverse longitudinal bar is horizontally bent to the outer side of the profile steel body and is arranged in a full-length mode; the joint does not need a field welding process, the arrangement requirement of large-density multi-layer longitudinal bars can be met while the bearing capacity of the section steel can be guaranteed through the structure, internal force of the joint can be effectively transmitted into the section steel column, force transmission is clear, construction is easy and convenient, and the construction progress is accelerated.

The invention discloses an anchor rod frame beam deformation and internal force calculation method based on a transfer matrix method, which comprises the following steps of: establishing a rectangular coordinate system by taking the left end point of a longitudinal beam in any frame beam as an original point, the direction of the longitudinal beam as an x axis and the direction vertical to the mounting plane of the frame beam as a y axis; solving a deflection curve differential equation of the beam based on a Winkler elastic foundation theory to obtain the deflection of the longitudinal beam; superposing the deflection increased due to the action of the anchoring force to obtain a deflection general solution of the i-th section of longitudinal beam under the action of the anchoring force; on the basis of the deflection general solution of the i-th longitudinal beam, according to the differential relationship among the deflection, the corner, the bending moment and the shearing force of any section on the i-th longitudinal beam, obtaining a corner, bending moment and shearing force expression of any section on the i-th longitudinal beam; and the deflection, the corner, the bending moment and the shearing solution of any position of the N sections of beams are calculated through a transfer matrix method. The method can calculate and solve the deformation and internal force of any section of frame beam, improves the accuracy and efficiency, and is more suitable for actual engineering scenes.

The invention belongs to the technical field of robot cooperative control, and particularly relates to a distributed self-adaptive control method and system for cooperation of multiple mechanical arms, and the method comprises the steps: decoupling a pure internal force vector from the data of a six-dimensional force sensor at the tail end through pre-identified kinetic parameters; calculating a cooperative confrontation index according to the pure internal force vector and the relative position vector, calculating a self-adaptive internal force penalty weight through nonlinear mapping based on the cooperative confrontation index, establishing a state-space equation of the system based on a double-integral model, introducing an equivalent environment stiffness matrix, mapping a prediction error vector in a prediction time domain into a prediction internal force vector, and obtaining a prediction internal force vector; and a cost function containing the product of the self-adaptive internal force penalty weight and the predicted internal force vector is constructed, an optimal control increment sequence is obtained by minimizing the cost function, and a speed instruction is updated to drive the mechanical arm to move. According to the method, the robustness and the execution stability of the system are effectively improved, and the cooperation safety is guaranteed.

This invention discloses a method for calculating the vibration response of a delaminated composite laminate, belonging to the field of structural defect calculation and analysis. The method includes: dividing the composite laminate with delamination defects into delaminated and intact regions based on the damage condition; decoupling the delaminated regions dynamically; describing the vibration characteristics of each component in both the delaminated and intact regions using elastic waves based on elastic wave propagation theory, and establishing vibration state vector expressions for each region; determining the compatibility relationship based on the displacement continuity and internal force equilibrium conditions at the coupling point between the delaminated and intact regions, and establishing structural dynamic equilibrium equations in wave space based on the boundary conditions of the composite laminate; solving the structural dynamic equilibrium equations to obtain the amplitudes of elastic waves of each order; and calculating the vibration response of each region of the composite laminate based on elastic wave theory and amplitude calculation. This invention solves the problem of low computational efficiency in existing methods.

The invention discloses an accurate prediction method for vertical deformation of adjacent tunnels caused by foundation pit excavation under the action of lateral soil mass, which comprises the following steps: firstly, determining size parameters of a foundation pit and an existing tunnel and physical and mechanical parameters of the tunnel and the soil mass, determining a stress mode of the tunnel and a model sketch of interaction between the foundation pit and the tunnel, and determining additional stress of the tunnel; then establishing a total energy formula of a tunnel upheaval deformation system of a Pasternak foundation model considering the influence of a lateral soil body and axial internal force of the tunnel, and obtaining a tunnel upheaval deformation w matrix analysis based on an energy variation principle; and finally, according to an Euler-Bernoulli beam theory, a bending moment expression and a shearing force expression of the tunnel are obtained. According to the method, the influence of the lateral soil body and the axial internal force of the tunnel on tunnel deformation is considered on the basis of the Pasternak foundation model, so that the data obtained through calculation more conforms to the measured value, matrix analysis is simple and practical, and the method has guiding significance on prediction of vertical deformation of the adjacent tunnel caused by foundation pit excavation.

The invention relates to a space curve prestress composite beam column and a design method thereof. The bottom of the space curve composite beam column is vertically upward, the tail end overhanging part is approximately horizontal, and the middle part is connected with the horizontal prestressed concrete closed beam to form a space structure. The horizontal closed prestressed beam and the space curve composite beam column support each other, the constraint boundary condition of the space curve composite beam column is changed, and the internal force distribution and magnitude of the space curve composite beam column are changed. According to the space curve composite beam column with the horizontal closed prestressed beam, the anti-cracking and anti-bending performance of a component is improved, and the deformation performance of the component is also improved. Therefore, the structure is particularly suitable for large cantilever structures with high deformation and bearing capacity.

The embodiment of the invention provides a robot, an operation method and device of the robot, a storage medium and a program product. The method comprises the steps that sensing force data of a mechanical arm is received; the external force and the internal force are distributed based on the sensing force data of each mechanical arm in the at least two mechanical arms, so that the corresponding sensing external force and sensing internal force of each mechanical arm are determined; based on the sensing external force and the sensing internal force corresponding to each mechanical arm, the expected external force and the expected internal force of the target object and the expected position of the target object, calculating the force and the position so as to determine the expected position of each mechanical arm; and according to the expected position of each mechanical arm, inverse kinematics solution based on whole-body control is carried out on the robot, so that the joint positions of each mechanical arm and each joint in the waist are determined, and each mechanical arm is controlled to operate the target object based on the joint positions. According to the embodiment of the invention, a multi-arm force control framework based on whole-body control is constructed, the force control effect is good, and the operation stability of the robot can be improved.

The invention relates to a shield tunnel structure reliability evaluation method based on joint safety reserve. The method comprises the steps that corresponding geological exploration data and tunnel design materials are collected for a to-be-evaluated tunnel; selecting a plurality of sections, and determining and calculating section parameters and shield tunnel structure joint internal forces under different burial depths; according to the stress state of the joint, constructing an ultimate bearing capacity curve of the section of the shield tunnel joint with different burial depths and different positions; and calculating a joint reliability coefficient Kj through the ultimate bearing capacity curve, and evaluating the reliability of the shield tunnel in combination with the joint reliability coefficient Kj. According to the method for evaluating the reliability of the shield tunnel structure, the reliability of the joints of the shield tunnel structure at different burial depths and different positions can be analyzed by calculating the reliability coefficient Kj of the joint of the plurality of calculated sections in the future, and a new thought is provided for reliability evaluation and real-time early warning of the shield tunnel structure in the future.

The invention discloses a cooperative control method for stay cable force and main beam line shape of an extradosed cable-stayed bridge. The cooperative control method comprises the steps that cable force data, main beam line shape data and main beam section internal force monitoring data in the construction stage are collected; based on a preset cable force adjustment judgment criterion, whether cable force adjustment needs to be started or not is judged; when triggering conditions are met, a geometric nonlinear analysis model considering cable-beam-tower cooperative deformation is established, and a cable force-main beam line shape sensitivity influence matrix is generated; screening K stay cables as key adjustment objects by adopting an influence matrix column vector L2 norm sorting method, and performing global optimization based on a simulated annealing algorithm to obtain an optimal displacement mean square error and an optimal cable force adjustment amount; and according to the key adjustment object and the cable force adjustment amount, multi-cable synchronous grading tensioning work is carried out. The invention provides a systematic and intelligent solution for the construction control of the extradosed cable-stayed bridge, and has remarkable economic benefits and social benefits.

The invention belongs to the technical field of robot control, and discloses a control method for controlling an over-constrained robot by calculating branch force based on six-dimensional force feedback and a shaft hole assembly system.The control method comprises the steps that an assembly system is built, and the mapping relation between generalized external force of an over-constrained six-dimensional force sensor and the branch force of the over-constrained six-dimensional force sensor is built; a branch force signal of the over-constrained six-dimensional force sensor is collected in real time, generalized external force borne by a shaft part at the tail end of the over-constrained six-dimensional force sensor is calculated, the calculated generalized external force of the shaft part is transmitted to a hole part, and then the hole part transmits the generalized external force to the tail end of the over-constrained robot. And the mapping relation between the over-constrained robot tail end stress and the branch driving force of the over-constrained robot is established, the generalized external force borne by the over-constrained robot serves as an input parameter, the branch driving force of the over-constrained robot is calculated, and the over-constrained robot is controlled to complete shaft hole assembling according to the calculated branch driving force. The shaft hole assembling system comprises an over-constrained six-dimensional force sensor used for fixing the shaft part and an over-constrained robot used for fixing the hole part. According to the method, the statically indeterminate branch internal force can be accurately solved, universal and efficient feedback control is achieved, and the method can be widely applied to high-precision force control scenes such as spacecraft docking devices and precision assembly robots.

The invention discloses a foundation pit supporting structure deformation and internal force calculation method. In the calculation method, an out-pit constraint stiffness matrix is introduced as a calculation factor, and a stiffness coefficient is iteratively calculated; the calculation method comprises the following steps: S1, constructing a foundation pit supporting structure calculation model; s2, a displacement-load total balance equation of the supporting structure under the undetermined supporting working condition of the foundation pit is determined; s3, a servo support is installed, prestress is loaded, a constraint stiffness matrix is introduced, a stiffness coefficient is calculated in an iterative mode, a displacement-load total balance equation of the supporting structure is established step by step, and the deformation condition of the supporting structure is analyzed and calculated; s4-5, the steps S2 to S3 are repeated until installation of all servo supports and prestress loading are completed, and displacement and internal force of the supporting structure are calculated; and S6, the foundation pit continues to be excavated to the pit bottom, deformation and internal force under all working conditions are calculated, and regulation and control calculation can be conducted in the process. By means of the calculation method, accurate calculation of deformation and internal force of the foundation pit supporting structure under the servo supporting effect can be achieved.

The invention provides a concrete arch bridge structure optimization method, device and equipment and a medium, relates to the technical field of concrete arch bridges, and aims at solving the technical problems that an existing arch bridge is small in span, large in arch rib weight and long in construction time. By optimizing the arch axis and the cross section area of the arch rib, an arch rib finished bridge is only pressed but not bent, the whole section of the whole arch basically reaches the maximum strength allowed by materials under the action of the most unfavorable load, stress-free closure is achieved by planning and solving the cable force of the buckle cable, the influence of system conversion on the internal force state of the finished bridge is eliminated, and the safety of the finished bridge is improved. And a prefabricated segment assembling and erecting process and high-strength materials are adopted, so that the aims of light weight and rapid erecting are achieved, and the beneficial effects that the number of beam segments erected on site is small, the operation speed is high, and the risk is small are achieved.