CN-121849788-B - Holding pole liquid state automatic balance control system with safety monitoring function

CN121849788BCN 121849788 BCN121849788 BCN 121849788BCN-121849788-B

Abstract

The invention relates to the technical field of safety control of overhead working hoisting equipment, in particular to a holding pole liquid state automatic balance control system with a safety monitoring function, which is used for solving the problems that the prior art cannot combine operation mode memory to realize abnormal high-precision identification and cause tracing, cannot generate an optimal control strategy according to abnormal types and risk levels, and cannot activate a redundant path to realize self-adaptive dynamic compensation when a main micropump fails; according to the invention, the balance safety monitoring module is used for fusing multisource sensing data, a physical model and historical control behaviors, dynamically optimizing a key variable causal graph, realizing abnormal high-precision identification and source tracing by combining operation mode memory, intelligently generating an optimal control strategy based on an offline training state-action value table according to an abnormal type and risk level, activating a redundant path when a main micropump fails, and dynamically adjusting standby micropump output through self-adaptive compensation.

Inventors

WANG TAO
LU FEI
You Changpei
GAO ZENGGANG
YAO BIN
ZHANG QIANYE

Assignees

华东送变电工程有限公司
扬州国电通用电力机具制造有限公司
劢戈自动化科技(上海)有限公司

Dates

Publication Date: 20260508
Application Date: 20260318

Claims (8)

1. Liquid automatic balance control system of pole that embraces with safety monitoring function is applied to liquid counter weight platform of pole, a serial communication port, include: The data acquisition processing module is used for acquiring the operation state parameters of the liquid counterweight cavity, the holding pole body and the surrounding environment and preprocessing the acquired operation state parameters; the liquid counterweight self-balancing module is used for calculating the current gravity center position and counterweight cavity pressure distribution state according to the counterweight cavity liquid level height, the counterweight liquid pressure, the counterweight liquid temperature, the pole top inclination angle, the pole base inclination angle and the triaxial acceleration, and generating a liquid circulation path configuration scheme, a first micropump driving signal and a first flow channel switching instruction by combining the usability state of each micropump; the dynamic disturbance suppression module is used for identifying dynamic variation trend caused by external disturbance based on time sequence fluctuation characteristics of the three-axis angular speed, the three-axis acceleration and the counterweight liquid pressure of the holding pole, generating a second micropump driving signal and a second flow passage switching instruction, and carrying out cooperative scheduling on the first micropump driving signal and the second micropump driving signal and the first flow passage switching instruction and the second flow passage switching instruction; The balance safety monitoring module is used for dynamically constructing causal dependency relations among key variables by combining a physical structure model of the holding pole liquid weight system with historical control behavior records based on the liquid level height of the weight cavity, the weight liquid pressure, the three-axis angular speed of the holding pole, the three-axis acceleration of the holding pole and the ambient wind speed, memorizing and identifying abnormal causes through a historical operation mode, and generating a liquid weight control strategy adjustment instruction and a micropump redundant path activation signal according to the abnormal type and the risk level.
2. The automatic balance control system with safety monitoring function for a pole according to claim 1, wherein the process of calculating the current gravity center position and the pressure distribution state of the weight cavity by the automatic balance module according to the weight cavity liquid level height, the weight liquid pressure, the weight liquid temperature, the pole top inclination angle, the pole base inclination angle and the triaxial acceleration comprises: Acquiring liquid level heights of all positions in a counterweight cavity, acquiring liquid temperatures corresponding to all positions, correcting standard density by utilizing a linear thermal expansion relation according to the liquid temperatures to obtain current liquid density, acquiring cross sectional areas of the cavities corresponding to all positions, acquiring space coordinates of liquid microcell volume centers of all positions in a global coordinate system, substituting the liquid level heights, the cross sectional areas, the corrected liquid densities and the space coordinates into a mass weighted average formula, and calculating and outputting gravity center position vectors of counterweight liquid; The method comprises the steps of obtaining pressure values of all positions of the wall of a counterweight cavity, obtaining installation heights of all pressure measurement positions on the cavity, obtaining a holding pole top inclination angle, a holding pole base inclination angle and triaxial acceleration, carrying out gesture compensation on original liquid level heights according to the holding pole top inclination angle, the holding pole base inclination angle and the triaxial acceleration to obtain equivalent liquid level height distribution under a horizontal reference system, calculating effective liquid column heights above all the positions by combining the equivalent liquid level height distribution, current liquid density and the installation heights of all the pressure measurement positions, calculating theoretical static pressure values of all the positions according to the effective liquid column heights, the current liquid density and the gravitational acceleration, combining the pressure values of all the positions with the corresponding theoretical static pressure values, and forming and outputting a pressure distribution state of the counterweight cavity.
3. The pole liquid automatic balance control system with safety monitoring function according to claim 2, wherein the process of generating the liquid flow path configuration scheme, the first micropump driving signal and the first flow path switching command by the liquid counterweight self balance module in combination with the availability status of each micropump includes: Acquiring the inclination angle of the top of the holding pole, the inclination angle of the base and the triaxial acceleration, calculating the horizontal distance required to move the gravity center of the counterweight liquid according to the total mass of the holding pole structure, the vertical height of the gravity center of the holding pole from the rotating shaft of the base and the total mass of the counterweight liquid, combining the inclination angle and the acceleration information, acquiring the liquid level distribution and the liquid density of each area in the counterweight cavity, respectively calculating the horizontal distance from the whole gravity center of the left liquid to the whole gravity center of the right liquid to the central axis of the system according to the liquid level distribution, and calculating the liquid volume required to be moved according to the total mass of the counterweight liquid, the average density of the current liquid, the horizontal offset of the required gravity center and the horizontal distance between the left and right gravity centers; acquiring availability states of all micropumps, if available micropumps exist, selecting the available micropump with the smallest number as a master micropump, otherwise, judging that all micropumps are unavailable; When available micropumps exist, a liquid flow path configuration scheme designates a flow channel between a source cavity and a target cavity connected with a main control micropump, a first micropump driving signal is set as a driving parameter required by the main control micropump to convey the calculated liquid volume in a current control period, a first flow channel switching instruction sends a switching command to an associated electromagnetic valve, and a physical channel of the selected flow channel is established; When all micropumps are not available, the liquid flow path configuration scheme designates maintaining the current flow path connection state, the first micropump driving signal is set to maintain the current driving parameter, and the first flow path switching command is set to maintain the current valve switch state.
4. The automatic balance control system for a derrick with a safety monitoring function according to claim 1, wherein the dynamic disturbance rejection module identifies a trend of dynamic change caused by external disturbance based on time sequence fluctuation characteristics of a triaxial angular velocity, triaxial acceleration and a counterweight liquid pressure of the derrick, and comprises: Acquiring triaxial angular velocity, triaxial linear acceleration and pressure signals of each cavity of the holding pole, respectively carrying out time-frequency decomposition on each channel of signals to obtain a plurality of frequency components, calculating disturbance energy of each frequency component in a fixed time window, combining the disturbance energy of all channels into disturbance energy vectors, and carrying out minimum-maximum standardization on the disturbance energy vectors to obtain standardized disturbance feature vectors; Matching the standardized disturbance feature vector with predefined various external disturbance feature templates, selecting a disturbance type with highest similarity, outputting a disturbance type name corresponding to the selected disturbance type, acquiring the standardized disturbance feature vector of the nearest preset number of control periods before the current control period, forming an input sequence by the feature vectors according to time sequence, inputting the input sequence into a time sequence prediction model, and outputting the disturbance type name of the next control period.
5. The pole liquid automatic balance control system with safety monitoring function according to claim 4, wherein the process of the dynamic disturbance rejection module generating the second micropump driving signal and the second flow path switching command and co-scheduling the first micropump driving signal and the second micropump driving signal, the first flow path switching command and the second flow path switching command comprises: Obtaining disturbance characteristic prediction vectors, generating driving components corresponding to each micropump through a cured feedforward mapping relation according to the disturbance characteristic prediction vectors, forming a second micropump driving signal, obtaining a disturbance type name of a next control period, if the disturbance type name is continuous low-frequency vibration, a second flow channel switching instruction is to close all valves, if the disturbance type name is instantaneous external impact, executing corresponding processing operation, if the disturbance type name is liquid largely swaying, executing corresponding processing operation, and if the disturbance type name is bubble separation cavity wall, the second flow channel switching instruction is to open all valves; And acquiring a first micropump driving signal, adding the first micropump driving signal and the second micropump driving signal component by component to obtain a final micropump driving signal, acquiring a first flow channel switching instruction, executing corresponding judgment on each valve, generating a final flow channel switching instruction, and synchronously transmitting the final micropump driving signal and the final flow channel switching instruction to an executing mechanism when the current control period is finished.
6. The automatic balance control system with safety monitoring function for a pole liquid according to claim 1, wherein the balance safety monitoring module is based on the liquid level height of the counterweight cavity, the counterweight liquid pressure, the three-axis angular velocity of the pole, the three-axis acceleration of the pole and the ambient wind speed, and the process of dynamically constructing the causal dependency relationship between key variables by combining the physical structure model and the history control behavior record of the pole liquid counterweight system comprises the following steps: The method comprises the steps of obtaining liquid level height of a liquid storage cavity, calculating pipeline volume flow according to the liquid level height of the liquid storage cavity in two continuous control periods, obtaining fluid pressure of a key node, obtaining the rotation speed of a vertical shaft of a holding pole, taking the fluid pressure as the angular speed of a rotation executing component, setting the liquid level height of the liquid storage cavity, the volume flow of the pipeline, the fluid pressure of the key node and the angular speed of the rotation executing component as four nodes of a causal graph, constructing an initial causal graph structure, and defining the physical behavior of a liquid counterweight system of the holding pole by a Navier-Stokes equation and a sliding mode control law: Acquiring dynamic response data in the system, wherein the dynamic response data comprises a transverse shaft rotation rate, a longitudinal shaft rotation rate, a transverse direction linear acceleration, a longitudinal direction linear acceleration and a vertical direction linear acceleration of the holding pole, acquiring state data of a fluid subsystem, acquiring counterweight liquid pressure, and performing consistency check on the counterweight liquid pressure and the fluid pressure of the existing key node to acquire external environment disturbance data; The method comprises the steps of obtaining a historical intervention record, obtaining a historical micropump driving signal sequence, obtaining a historical runner switching instruction sequence, marking micropump driving signals and runner switching instructions as active intervention operation on a counterweight liquid system, executing causal structure learning, inputting a liquid storage cavity liquid level height, pipeline volume flow, key node fluid pressure and observation sequence of the angular speed of a rotating execution part together with holding pole non-main shaft motion data, ambient wind speed and intervention records into a causal discovery algorithm, correcting the direction and existence of an initial directed edge, and outputting an updated directed causal graph.
7. The pole liquid automatic balance control system with safety monitoring function according to claim 6, wherein the process of identifying the cause of the abnormality by the balance safety monitoring module through the history operation mode memory comprises: Acquiring a multi-dimensional state sequence consisting of a current control period and a previous continuous preset number of control periods, acquiring a history operation mode memory, searching a normal state sequence cluster with the minimum dynamic time warping distance from the current multi-dimensional state sequence in the history operation mode memory, calculating a residual sequence of the center sequence of the current multi-dimensional state sequence and the searched normal state sequence cluster, and compressing the residual sequence into a deviation feature vector; Acquiring an anomaly determination threshold value, calculating a weighted Euclidean norm of a deviation feature vector, comparing the weighted Euclidean norm with the anomaly determination threshold value, if the weighted Euclidean norm is larger than the anomaly determination threshold value, determining that an anomaly event occurs, acquiring a historical anomaly cause record, calculating the weighted Euclidean distance between the historical anomaly cause record and the current deviation feature vector in all the deviation feature vectors of the historical anomaly cause record, and finding out an anomaly sample with the minimum weighted Euclidean distance; Reading the cause category associated with the abnormal sample with the minimum weighted Euclidean distance, obtaining a cause matching threshold, comparing the minimum weighted Euclidean distance with the cause matching threshold, outputting the cause category associated with the abnormal sample with the minimum weighted Euclidean distance if the minimum weighted Euclidean distance is smaller than the cause matching threshold, and outputting the unknown abnormality if the minimum weighted Euclidean distance is not smaller than the cause matching threshold.
8. The pole liquid automatic balance control system with safety monitoring function according to claim 7, wherein the process of generating the liquid counterweight control strategy adjustment command and the micropump redundant path activation signal by the balance safety monitoring module according to the anomaly type and the risk level comprises: Acquiring an abnormal type, acquiring a risk level, combining the abnormal type and the risk level into a unique system state identifier, generating a liquid counterweight control strategy adjustment instruction by a state-action value table completed by offline training, searching all control actions matched with the unique system state identifier and values thereof in the state-action value table, selecting a control action with the minimum control intensity if a plurality of control actions have the same maximum value, and converting the selected control action into a micropump target flow and a runner valve opening to form the liquid counterweight control strategy adjustment instruction; acquiring a main micropump fault flag bit, if the main micropump fault flag bit is true, generating a micropump redundant path activation signal, wherein a signal value is enabled, if the main micropump fault flag bit is false, generating a micropump redundant path activation signal, wherein the signal value is disabled, and if the micropump redundant path activation signal value is enabled, executing corresponding processing operation; Obtaining a set flow value of the last normal working period of the main micropump, multiplying the set flow value by a self-adaptive compensation coefficient to obtain a target output flow of the standby micropump, writing the target output flow of the standby micropump into a liquid balance weight control strategy adjustment instruction, outputting the liquid balance weight control strategy adjustment instruction composed of the target flow of the micropump and the opening of a runner valve, and outputting a micropump redundant path activation signal.

Description

Holding pole liquid state automatic balance control system with safety monitoring function Technical Field The invention relates to the technical field of safety control of overhead working hoisting equipment, in particular to a holding pole liquid automatic balance control system with a safety monitoring function. Background In the construction of cold high-altitude mountain areas, the traditional water-based pole-holding counterweight system is easy to cause structural fracture and functional failure due to low-temperature icing expansion, the transportation burden is increased due to low density, the water evaporation is aggravated in a strong wind environment, and the daily maintenance cost is high, the existing antifreezing means such as electric heating dependent stable power supply is difficult to apply in an electroless area, the mechanical antifreezing valve has high failure rate under extremely cold conditions, the ethanol antifreezing solution has lower density, larger volume and inflammable risk, compared with the calcium chloride solution, the density is high, the counterweight volume can be obviously reduced, the extremely low freezing point can be kept in a liquid state under extremely low temperature, the volume shrinkage during solidification is more fundamentally avoided from frost heave damage, the stability is excellent, layering and freezing are avoided, and the ice melting function is realized, so that the systematic defects of the water-based counterweight are comprehensively overcome, and the novel medium scheme of safety, high efficiency and high adaptability to the high-altitude environment is provided for the pole-holding automatic balancing system. The patent application with reference to publication number CN119038386A discloses a lifting hook balancing system of a double-flat-arm electric pole, which is suitable for the double-flat-arm electric pole, and comprises a main control system, a pole control system and a ground traction device control system, wherein the pole control system controls the pole to perform lifting, turning and amplitude changing actions through RS485 communication according to control parameter data of the main control system and is in open loop control; However, the above-mentioned reference patent sets up total control system, hold pole control system and ground traction device control system, take the tension of control rope as automatic control target, make ground traction device maintain the tension while automatically regulated operating speed, realize the dynamic balance of two flat arm electric hold pole lifting hooks, but can not calculate the real-time focus of counter weight liquid accurately, can't combine the liquid density of temperature correction, cavity geometric parameter and liquid level after the gesture compensation to realize high-precision pressure distribution modeling, can't dynamically generate optimal liquid migration route and control command according to micropump availability, reduce flexible hold pole's self-adaptation stable ability in wind disturbance and vibration environment, can't combine the operation mode memory to realize unusual high accuracy discernment and cause tracing source simultaneously, can't produce optimal control strategy according to unusual type and risk level, can't activate redundant route when main micropump breaks down and realize self-adaptation dynamic compensation, can't guarantee that the system is continuous stable operation under complicated disturbance or part failure, reduce liquid counter weight system's security, self-adaptability and fault-tolerant ability. Therefore, we propose a pole liquid automatic balance control system with safety monitoring function aiming at the above problems. Disclosure of Invention The invention aims to provide a holding rod liquid automatic balance control system with a safety monitoring function, which solves the problems that in the prior art, the real-time gravity center of balance weight liquid cannot be accurately calculated, high-precision pressure distribution modeling cannot be realized by combining temperature-corrected liquid density, cavity geometric parameters and liquid level after posture compensation, an optimal liquid migration path and a control instruction cannot be dynamically generated according to micropump availability, the self-adaptive stability of a flexible holding rod in wind disturbance and vibration environments is reduced, meanwhile, abnormal high-precision identification and source tracing cannot be realized by combining operation mode memory, an optimal control strategy cannot be generated according to abnormal types and risk grades, the self-adaptive dynamic compensation cannot be realized by activating a redundant path when a main micropump fails, the continuous and stable operation of the system cannot be ensured under complex disturbance or component failure, and the safety, self-adaptation and fault tolerance of the liquid