CN-121974254-A - Intelligent hoisting regulation and control system and method for height-limited clearance adjacent iron steel box girder

CN121974254ACN 121974254 ACN121974254 ACN 121974254ACN-121974254-A

Abstract

The invention relates to an intelligent hoisting regulation system and method for a height-limited clearance adjacent iron steel box girder, the system comprises a multi-source heterogeneous sensing subsystem, a hoisting previewing and real-time monitoring subsystem based on digital twinning, a self-adaptive tension and multipoint synchronous hydraulic intelligent control subsystem and a modularized high-reliability decision-making and safety redundancy subsystem. The multi-source heterogeneous sensing subsystem realizes high-precision positioning and gesture sensing through an RTK-GNSS, a laser range finder, an inertial measurement unit and a strain gauge. The digital twin subsystem builds a construction model based on BIM technology, and performs 4D simulation and collision early warning. The self-adaptive tension control module adopts PID control optimized by genetic algorithm, and the hydraulic control module realizes multipoint synchronous regulation and control. The safety redundant subsystem adopts a dual-machine hot standby mode, so that high reliability of the system is ensured. The invention obviously improves the hoisting efficiency and the safety by an intelligent and high-precision regulation and control means, and is suitable for hoisting the steel box girder under a complex environment.

Inventors

CHEN HUI
ZHAO YANG
HUANG QIANG
ZHAO RONGYAO
NIU HONGXIA
LIU MINGLU
HUANG WENHUA
GAO YONGQIANG
YANG YONG
HUANG FANG

Assignees

中冶(上海)钢结构科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251202

Claims (10)

1. Intelligent hoisting regulation and control system of limit for height headroom adjacent iron steel case roof beam, characterized by comprising: a. the heterogeneous perception subsystem of multisource for acquire the spatial position and the gesture information of steel case roof beam in real time, the perception subsystem includes: the global absolute positioning layer realizes centimeter-level absolute coordinate reference through an RTK-GNSS receiver; the relative positioning layer realizes millimeter-level relative displacement monitoring through a laser range finder; The inertial attitude sensing layer is used for acquiring triaxial acceleration and angular velocity in real time through the micro-electromechanical inertial measurement unit; The structural stress sensing layer monitors the stress state of the key stress part through the high-sensitivity strain gauge; b. The hoisting previewing and real-time monitoring subsystem based on digital twinning is used for constructing a construction digital twinning body and carrying out 4D overall process simulation, and is used for monitoring a hoisting process in real time and predicting collision risk, and the subsystem comprises: The high-precision environment and structure modeling module is used for constructing a steel box girder model and an adjacent railway facility model with the precision not lower than 1:100 based on BIM technology; the collision risk dynamic early warning and path planning module drives the digital twin body to conduct advanced prediction through real-time pose data, calculates the minimum clearance distance and triggers early warning; c. The utility model provides a self-adaptation tension and multiple spot synchronous hydraulic pressure intelligent control subsystem for carry out accurate regulation and control to steel case roof beam according to real-time data, ensure hoist and mount process's synchronism and stability, the subsystem includes: The self-adaptive tension control module adopts self-adaptive PID control optimized based on genetic algorithm, and the control force expression is: , wherein F (t) is the control force output, e (t) is the control error, 、、 The proportional, integral and differential gain coefficients, respectively, τ being the integral variable. PID parameters 、、 Instead of being fixed, the method utilizes a genetic algorithm to dynamically optimize on line through an adaptability function J which aims at integrating error, overshoot and response time; the high-precision multipoint synchronous hydraulic control module adopts a cross coupling control mode, and the control input comprises a feedforward control quantity, a proportional control quantity, a differential control quantity and a synchronous coupling compensation quantity; d. The modularized high-reliability decision-making and safety redundancy subsystem is used for processing perceived data in real time and sending out control instructions, and simultaneously providing a safety redundancy mechanism when a system fails, and the subsystem comprises: The edge calculation decision unit adopts heterogeneous architecture of an Intel Xeon E5-2680 v4 industrial personal computer and an NI compactRIO real-time controller, so that the response time of the system is ensured not to exceed 100 milliseconds; multiple safety redundancy designs, including communication redundancy, power redundancy, and dual hot standby modes, allow the system to automatically switch to a standby unit and trigger an alarm when any sensor or execution unit fails.
2. The intelligent hoisting regulation and control system for the height-limited clearance adjacent iron steel box girder is characterized in that RTK-GNSS receivers of a global absolute positioning layer are arranged at four corners of the steel box girder in the multi-source heterogeneous sensing subsystem, anti-interference antenna design is adopted to eliminate electromagnetic interference of the adjacent iron environment, the multi-source heterogeneous sensing subsystem carries out multi-source data fusion by adopting a variable decibel leaf self-adaptive cubic Kalman filter, covariance matrixes of observed noise are estimated in real time and adjusted in a self-adaptive mode through variable decibel leaf reasoning, and fusion results of centimeter-level absolute positioning and millimeter-level relative displacement are output.
3. The intelligent hoisting regulation and control system for the height-limited clearance adjacent iron and steel box girders is characterized in that in the hoisting previewing and real-time monitoring subsystem based on digital twinning, a collision risk dynamic early warning and path planning module can automatically identify static and dynamic collision risk points between the steel box girders and railway facilities and generate a plurality of hoisting paths with optimal stress and no collision.
4. The intelligent hoisting regulation and control system for the height-limited clearance adjacent iron steel box girder is characterized in that in the self-adaptive tension and multipoint synchronous hydraulic intelligent control subsystem, the control input expression of each hydraulic actuator is as follows: , Wherein, the Is the first The control inputs of the individual hydraulic actuators, For the feed-forward control amount, In order to be able to take the displacement error, As a differential of the error, 、、 Proportional, differential and synchronous coupling gain coefficients respectively, And Respectively the first And (b) The actual displacement of the individual actuators is such that, In order for the total number of actuators to be present, Is a cross-coupling term for eliminating synchronization errors between actuators.
5. The intelligent hoisting regulation and control system for the height-limited clearance adjacent iron steel box girder is characterized in that the emergency response time of the double-machine hot standby mode in the modularized high-reliability decision-making and safety redundancy subsystem is not more than 2 seconds.
6. The regulation and control method of the intelligent hoisting and control system for the height-limited clearance adjacent iron steel box girder is characterized by comprising the following steps: Acquiring the space position and posture information of a steel box girder in real time through a multi-source heterogeneous sensing subsystem; Constructing a construction digital twin body based on a digital twin hoisting previewing and real-time monitoring subsystem, performing 4D whole-process simulation, monitoring a hoisting process in real time and predicting collision risk; the self-adaptive tension and multipoint synchronous hydraulic intelligent control subsystem accurately regulates and controls the steel box girder according to real-time data; And fourthly, the modularized high-reliability decision-making and safety redundancy subsystem processes the sensing data in real time and sends out a control instruction, and simultaneously provides a safety redundancy mechanism when the system fails.
7. The method for regulating and controlling the intelligent hoisting and controlling system for the height-limited clearance adjacent iron steel box girder is characterized in that in the first step, global absolute positioning is achieved through an RTK-GNSS receiver, relative positioning is achieved through a laser range finder, inertial attitude information is acquired through a micro-electromechanical inertial measurement unit, and structural stress is monitored through a high-sensitivity strain gauge.
8. The method for regulating and controlling the intelligent hoisting and controlling system for the height-limited clearance adjacent iron steel box girder is characterized in that in the second step, the collision risk dynamic early warning and path planning module drives the digital twin body to conduct advanced prediction through real-time pose data, the minimum clearance distance is calculated, and the early warning is triggered when the predicted track is lower than a safety threshold.
9. The method for regulating and controlling the intelligent hoisting and controlling system for the adjacent iron and steel box girders with the height-limiting clearance is characterized in that in the third step, the self-adaptive tension control module adopts self-adaptive PID control optimized based on a genetic algorithm, and the high-precision multipoint synchronous hydraulic control module adopts a cross coupling control mode to realize the accurate regulation and control of the steel box girders.
10. The method for regulating and controlling the intelligent hoisting and controlling system for the height-limited clearance adjacent iron steel box girder, which is disclosed in claim 6, is characterized in that in the fourth step, when any one sensor or execution unit fails, the system is automatically switched to a standby unit and an alarm is triggered, and the emergency response time is not more than 2 seconds.

Description

Intelligent hoisting regulation and control system and method for height-limited clearance adjacent iron steel box girder Technical Field The invention relates to the technical field of bridge construction, in particular to a height-limited clearance adjacent iron steel box girder intelligent hoisting regulation system and method Background With the development of economy and the continuous promotion of infrastructure construction, the steel box girder is taken as an important bridge structural form, and the construction technology of the steel box girder is mature. However, in the actual construction process, the conventional steel box girder hoisting method faces many challenges, and in particular, in the complex environments of limited height and clearance and adjacent operation railways, it is often difficult to meet the requirements of high precision and high efficiency. The traditional steel box girder hoisting method mainly relies on manual measurement and manual regulation and control, and synchronous positioning at millimeter level is difficult to realize, so that smoothness of a circuit is affected, and uneven stress of a structure is possibly caused. In addition, due to the lack of active safety pre-control capability, dynamic changes in the hoisting process easily form potential collision risks for adjacent railway facilities, and the safety is low. Meanwhile, the construction period is long, the efficiency is low, and the problems are particularly prominent in limited railway skylight points. In recent years, although the construction technology of the steel box girder is continuously innovated, the limitations of the traditional method are not completely overcome by the existing improvement. For example, some new technologies still have shortcomings in perception, decision-making and execution, and it is difficult to achieve true intelligent and high-precision control. Furthermore, the prior art is often improved only for a single aspect, and ignores the systematic design of multi-source heterogeneous awareness, intelligent decision-making and precise execution. The prior art has the following defects: the precision is insufficient, the traditional steel box girder hoisting method mainly relies on manual measurement and manual regulation, synchronous positioning at millimeter level is difficult to realize, the smoothness of a line is poor, and the stress of a structure is easy to influence. The safety is low, the prior art lacks active safety pre-control capability, and the dynamic change in the hoisting process easily forms potential collision risks for adjacent railway facilities. The efficiency is low, the traditional construction method is low in efficiency, the construction period is long, the construction pressure is huge in limited railway skylight points, and the requirement of high efficiency is difficult to meet. The intelligent technology has the defects of the prior art in terms of perception, decision and execution, is difficult to realize true intelligent and high-precision control, and cannot adapt to complex construction environments. The system design is deficient, the current improvement technology is often improved only aiming at a single aspect, and the system design of multi-source heterogeneous sensing, intelligent decision making and accurate execution is ignored. Therefore, an omnibearing innovative scheme capable of comprehensively solving the problems is needed to realize accurate regulation and control of the intelligent hoisting space position of the steel box girder in the height-limited clearance adjacent iron environment. Disclosure of Invention The invention aims to overcome the defects of the prior art, provides an intelligent hoisting regulation and control system and method for a height-limited clearance adjacent iron steel box girder, and solves the problems of difficult guarantee of precision, high safety risk and low efficiency in the hoisting process of the steel box girder. In order to solve the technical problems, the invention is realized as follows: intelligent hoisting regulation and control system of limit for height headroom adjacent iron steel case roof beam, characterized by comprising: a. the heterogeneous perception subsystem of multisource for acquire the spatial position and the gesture information of steel case roof beam in real time, the perception subsystem includes: the global absolute positioning layer realizes centimeter-level absolute coordinate reference through an RTK-GNSS receiver; the relative positioning layer realizes millimeter-level relative displacement monitoring through a laser range finder; The inertial attitude sensing layer is used for acquiring triaxial acceleration and angular velocity in real time through the micro-electromechanical inertial measurement unit; The structural stress sensing layer monitors the stress state of the key stress part through the high-sensitivity strain gauge; b. The hoisting previewing and rea