CN-121974246-A - Closed-loop control method and system for large-volume beam body hoisting crossing in-service multi-strand rail

CN121974246ACN 121974246 ACN121974246 ACN 121974246ACN-121974246-A

Abstract

The invention discloses a closed loop control method and a closed loop control system for large-volume beam body hoisting crossing in-service multi-strand tracks, and relates to the technical field of bridge construction control. The method comprises the steps of collecting and synchronizing beam body counter force, displacement, inclination angle and train approaching/enveloping data, calculating a gravity center coordinate G and an attitude deviation vector E, identifying a flexibility matrix H (k) on line, generating multiple constraints including counter force, deflection, synchronization errors and the like, linking and tightening a threshold value when the trains approach, solving correction quantity by adopting robust MPC (MPC) with the maximum counter force change as a main target, synchronously executing and adopting double closed loop control, switching and re-optimizing an active set when soft constraint is triggered, and judging stability by adopting quantitative indexes such as G, E double threshold value duration time and the like. The invention realizes linkage constraint, peak counter-force inhibition and multi-target cooperative control of the operation scene, and improves the safety and precision of the continuous operation and hoisting of the in-service track.

Inventors

LI YUANSHUAI
ZHANG BAOJUN
WANG PAN
LUO HAORAN
HUANG CHAO
ZHANG ENZE

Assignees

中铁七局集团南京工程有限公司

Dates

Publication Date: 20260505
Application Date: 20251225

Claims (10)

1. A closed-loop control method for hoisting a large-volume beam body crossing a plurality of in-service tracks is characterized in that, S1, acquiring load, displacement and inclination angle data of the end part, the midspan and the support/suspension point of a beam body, train event information and track dynamic envelope parameters; s2, calculating Liang Tichong a heart coordinate G and an attitude deviation vector E of the acquired data; s3, applying heuristic excitation in a safety window, performing online identification to obtain a flexibility matrix H (k), and constructing an uncertainty set U of the flexibility matrix H (k); S4, generating control constraint based on H (k) and environment information, and tightening gesture and gravity center stability threshold, jerk upper limit and displacement envelope constraint according to linkage of a train distance D and a speed V when the train approaches; s5, constructing and solving a robust optimization problem, wherein the objective of the problem is to minimize the maximum single-point counter force change, and the shortest time required for meeting the threshold after tightening is taken as a priority objective, and the constraint of the problem comprises the worst constraint under the uncertain set U, and solving to obtain the target correction quantity of each lifting point; S6, mapping the optimization solution into equipment executable control instructions to drive each actuator to finely adjust, adopting double closed-loop control of counter force and displacement, and carrying out self-adaptive switching of a main control loop based on rigidity change; s7, when the counter force, stroke or speed soft upper limit is triggered, switching and re-optimizing the active set are started, and constraint re-distribution is carried out; and S8, evaluating the control effect according to the stability criterion, returning to the S5 iteration when the control effect is not met, and entering a conservation mode when the train is not stable during passing.
2. The method of claim 1, wherein the linkage tightening is achieved by a tightening coefficient function f (D, V), where f (D, V) is a monotonically decreasing function with respect to distance D and velocity V for synchronously scaling the attitude threshold, the center of gravity threshold, and the jerk upper limit.
3. The method according to claim 1or2, wherein the uncertainty set U is based on an ellipsoid set constructed from recognition error statistics, and the robust optimization problem is solved by converting constraints into second order cone constraints.
4. A method according to claim 3, characterized in that the mode is switched from "reaction master, displacement slave" to "displacement master, reaction slave" when the rate of change of the minimum eigenvalue λ min of the compliance matrix H (k) relative to its nominal value exceeds a preset threshold.
5. The method according to claim 4, wherein in step S7, the active set switching is performed in conjunction with the re-solving of step S5, i.e. after triggering a soft constraint, setting the corresponding constraint as an active constraint and re-solving the robust optimization problem.
6. The method of claim 5, wherein the control command is issued by a master-slave and clock synchronized execution architecture and employs a force/displacement coordinated dual closed loop or equivalent synchronization control strategy.
7. The method of claim 6, wherein soft constraint-active set switching and re-optimization is triggered when the constraint approaches or exceeds a limit, and hysteresis is set to suppress frequent switching.
8. The method of claim 7, wherein the stability criteria include duration decisions for which the attitude, center of gravity/internal force and deflection are within thresholds and compliance with regulatory limits.
9. A hoist control system for implementing the method of any of claims 1,2, 4-8, comprising an operational status detection and data acquisition module, an online modeling/parameter update module, a predictive optimization solution module, a synchronous execution module, a constraint management and re-optimization module, a stability determination module, the modules being communicatively coupled to perform the method flow.
10. The system according to claim 9, wherein the operation state detection and data acquisition module comprises a data acquisition unit for acquiring the stress, displacement and posture of the component and an information interface for acquiring the operation state, and the synchronous execution module is adapted to a hydraulic, electromechanical or hoisting execution unit and supports multi-node synchronous control with uniform time base.

Description

Closed-loop control method and system for large-volume beam body hoisting crossing in-service multi-strand rail Technical Field The invention relates to the technical field of bridge construction and hoisting control, in particular to a closed-loop control method, a closed-loop control system, electronic equipment and a computer readable storage medium for hoisting a large-volume beam body crossing in-service multi-strand tracks, and particularly relates to stress distribution and attitude control which are combined with linkage constraint of train detection and safety envelope, on-line identification and robust Model Predictive Control (MPC), peak counter-force inhibition and synchronous execution under the condition of no shutdown. Background Along with the increasing demand of existing line reconstruction and capacity expansion along urban rails and railways, the engineering scenes of implementing hoisting and in-place under the condition of no-stop operation of large-volume beam bodies (such as superposed beams, box beams and combined beams) which span two or more in-service rails are increasingly increased. The working conditions have the following remarkable technical difficulties that 1) the operation restriction is strict, the operation restriction needs to be linked with a train operation window/approaching state to meet the train safety envelope and the working point operation restriction, 2) the structural and environmental uncertainty is that the rigidity of a beam body and the connecting boundary change remarkably in the construction stage, wind-induced disturbance and construction micro-swing cannot be avoided, 3) the multi-target coupling restriction is that the posture/gravity center is kept stable, the single-point counter-force peak value and the change rate are restrained, the synchronous error and jerk of the mid-span deflection and the multi-actuator are controlled, and 4) the safety redundancy requirement is high, and the smooth deratization is needed when the upper limit of the soft/hard is triggered, and the stress redistribution is realized. The prior art mainly focuses on the prediction and adjustment of the attitude stability or the path/tension of a single target, and is difficult to realize multi-constraint cooperative control linked with train detection in a special operation scene of in-service multi-strand tracks, and the method is specifically characterized in that: BIM/gesture closed loop class, for example, CN118854787A proposes a method for improving the mounting accuracy of a bridge girder erection machine box girder based on BIM, and dynamic tensioning parameters are calculated through wind speed/gesture and other data to stabilize the gesture, so that the method is suitable for the mounting of windy weather. But the train approach detection and the safety envelope constraint of the in-service track are not linked and tightened, and unified optimization and robust guarantee of 'maximum single-point counter force change/change rate/mid-span deflection/jerk/synchronous error' are not introduced at the stress distribution layer. Track/tension distribution class, such as CN120331138A predicts dip angle/wind speed through next track point and calculates tension and length of each sling, thus realizing dynamic optimization and tension adjustment of path. The scheme does not establish a counterforce distribution optimization target under beam body rigid body-deflection coupling, does not consider minimax counterforce peak value inhibition and synchronous execution jerk constraint under structural parameter uncertainty, and does not form constraint linkage with the running state of the in-service train. The gesture/gravity center device, such as CN107673205A, CN108275574A, adjusts the gravity center and the installation inclination angle of a component through devices such as a lifting appliance/an oil cylinder, is suitable for gesture adjustment of component lifting, is more suitable for device-level adaptation, and does not relate to stress distribution optimization and closed-loop synchronous control of a multi-point actuator. The monitoring/jacking adjustment type is that, for example, CN119826894A carries out pressure monitoring and jacking adjustment on swivel construction, emphasizes threshold early warning and adjustment logic, but does not solve the problem of multi-actuator synchronization, robust stress distribution and train linkage constraint tightening under the hoisting and moving working condition. Other related matters are that CN117252073A focuses on active control of linear and internal force of batch installation of continuous combined beams, a scene focuses on linear/internal force control of batch installation, and is different from instant stress distribution and posture-gravity center stabilization synergy of in-service overline hoisting, and CN101633478A proposes a rope traction automatic horizontal adjustment lifting appliance to realize feedback adjus