CN108469727A - A kind of construction of prevention work platform of skyscraper - Google Patents
A kind of construction of prevention work platform of skyscraper Download PDFInfo
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- CN108469727A CN108469727A CN201810367153.8A CN201810367153A CN108469727A CN 108469727 A CN108469727 A CN 108469727A CN 201810367153 A CN201810367153 A CN 201810367153A CN 108469727 A CN108469727 A CN 108469727A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
Abstract
The invention belongs to construction safety technical fields, disclose a kind of construction of prevention work platform of skyscraper, and the construction of prevention work platform of the skyscraper includes：Monitoring unmanned module, flue dust detection module, temperature detecting module, central control module, vibration detection module, security alarm module, locating module, display module.The present invention may be implemented 360 degree by monitoring unmanned module and carry out conduct monitoring at all levels without dead angle, without distance limitation, without height limitation, substantially increase the security monitoring effect of work progress；Positioning and track following in real time are carried out to the personnel for entering construction site by locating module simultaneously.Security risk can be eliminated effectively and in budding state, and to the problem and accident be controlled and solve in real time by the present invention, it is thus ensured that the safety of construction personnel and can timely and effectively be disposed when pinpointing the problems.
Description
Technical field
The invention belongs to construction safety technical field more particularly to a kind of construction of prevention work platforms of skyscraper.
Background technology
Architectural engineering (including chemical industry construction and mine construction and other industry are constructed) is the higher industry of accident risk,
Government extremely payes attention to building safety problem, and formulates the trouble free service side of " put prevention first, safety first, comprehensive treatment "
Needle.The Ministry of Construction, security production supervision and management general bureau increase the management intensity of architectural engineering and require all architectural engineerings from building
If unit is equipped with security official to subpackage unit, and requires to carry out three-level safety education (level of factory education, workshop to construction worker
Education, teams and groups' education)；The staff in special work post and high-risk post will it is accredited after the examination by national correlation department on
Hilllock.However, the existing construction of prevention work process monitoring to skyscraper, is monitored by fixing camera, dead angle part then without
Method monitors, and there are potential safety accident risks；Simultaneously existing building construction in due to construction personnel can not be positioned and with
Track cannot be rescued in time after causing the accident.
In conclusion problem of the existing technology is：The existing construction of prevention work process monitoring to skyscraper, by solid
Determine camera to be monitored, dead angle part can not then monitor, and there are potential safety accident risks；Simultaneously existing building construction in by
In construction personnel can not be positioned and be tracked, cannot be rescued in time after causing the accident.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of construction of prevention work platforms of skyscraper.
The invention is realized in this way a kind of construction of prevention work platform of skyscraper includes：
Monitoring unmanned module, flue dust detection module, temperature detecting module, central control module, vibration detection module, peace
Full alarm module, locating module, display module；
Monitoring unmanned module, connect with central control module, for carrying out construction site monitoring by unmanned plane；
Flue dust detection module, connect with central control module, for being carried out to construction site flue dust by smoke gas sensor
Detection；
Temperature detecting module is connect with central control module, for being carried out to construction site temperature by temperature sensor
Detection；
Central control module, with monitoring unmanned module, flue dust detection module, temperature detecting module, vibration detection module,
Security alarm module, locating module, display module connection, for dispatching modules normal work；
Vibration detection module, connect with central control module, for passing through vibrating sensor to construction site vibration data
It is detected；
Security alarm module is connect with central control module, urgent for being carried out to site safety accident by alarm
Alarm；
Locating module is connect with central control module, is positioned to construction personnel for passing through RFID chip；
Display module is connect with central control module, the information for showing detection construction site.
Further, the locating module localization method is as follows：
When first, into building site, receives and read each to enter by the RFID card reader mounted in construction site inlet and apply
The personnel identity information of the RFID chip of the personnel at work scene realizes the contactless identification to personnel；Through identification
Personnel afterwards let pass through pass gates, and verification is not refused then to put by personnel；
Secondly, into the personnel in construction site by the RFID chip on its safety cap to the RFID being arranged in floor
Locating base station sends out radiofrequency signal, reports its approximate location；
Then, when construction personnel enters construction location, the RFID chip on safety cap is by being arranged in each floor
A radio frequency locator nearest from personnel activation in multiple radio frequency locators of multiple regional areas, and to construction personnel position
It sets and is positioned, which is sent to RFID locating base stations by the identity information of the construction personnel and location information；Institute
It states RFID locating base stations and the identity information of the construction personnel and location information is sent to monitor supervision platform or the movement of administrative staff
Client；
Finally, monitor supervision platform is real-time with plane or 3 D monitoring model in the mobile client of large screen or administrative staff
Show the identity information and location information of construction personnel.
Further, the RFID chip has the identity label ID number of safety cap wearer, and base is positioned with the RFID
It stands and radio frequency locator is wirelessly connected and communication.
Further, the radiofrequency signal coverage area of the RFID locating base stations is 50~60 rice diameter ranges.
Further, the radio frequency locator is the low frequency positioner that tranmitting frequency is 125KHz~134KHz, and setting exists
In each room of the hot work in progress of each floor, the personnel in 1~8 meter can be accurately positioned.
Further, the central control module uses the PID control based on particle cluster algorithm；
I-th of particle is expressed as Xi=(xi1,xi2,…,xiD), then it is empty in solution just to track two " extreme values " for particles
Between middle search, the 1st extreme value is the optimal solution that particle itself is found, this solution is referred to as individual extreme value pBest, it is denoted as Pi=
(pi1,pi2,…,piD)；2nd extreme value is the desired positions (having best fitness) that all particles of group live through, this pole
Value is exactly global extremum gBest, it is denoted as Pg=(pg1,pg2,…,pgD) only uses wherein one alternatively, it is also possible to not have to entire population
Neighbours of the part as particle, then the extreme value in all neighbours is exactly local extremum, the speed V of particle ii=(vi1,
vi2,…,viD) indicate, and the position of each particle is exactly a potential solution, in iterating to calculate each time, the of particle
D dimensions (1≤d≤D) update speed and the position of oneself according to following formula：
Wherein, rand () is the random function changed in [0,1] range；C1 and c2 is positive real number, referred to as accelerated factor, is used
To adjust the step-length of each iteration；W is inertia weight；N=1,2 ... it is iterations.
Further, the particle cluster algorithm in PID control uses real coding, direct for the particle in pid parameter optimizing
It is encoded to (Kp, Ki, K d), using two fitness functions:
To in non-minimum phase system PI controllers and PD control device adjust respectively, parameter coding be respectively (KPI,
KI) and (KPD,KD), PI controllers, which are mainly that reduction system is negative, to be adjusted, and selects following performance indicator as fitness function：
Two in formula are respectively the absolute mistake for inhibiting the negative system output absolute value adjusted and inhibiting overshoot and adjustment time
Difference-product point (ITAE)；C is weighted factor, adjusts the importance inhibited, the purpose of PD control device mainly to improve to negative for emphasizing
The transient response of system reduces overshoot, so selecting type (4) is used as fitness function；
The control algolithm of PI/PD controllers is
U=SPIUPI+SPDUPD (6)
Wherein, SPIAnd SPDFor smoothing factor, PI controllers (UPI) and PD control device (UPD) be respectively
Because PI controllers and PD control device are that independent optimization obtains under different performance indicators, therefore are introduced smooth
Factor e (t) adjusts the weight of the two, defines the gain S of PI controllersPIFor
Wherein n is the order of smoothing factor, then the gain of PD control device is
SPD=1-SPI。 (10)
Further, RFID chip sends out the radiofrequency signal for reporting its approximate location to RFID locating base stations, using TOA
Location algorithm；
TOA location algorithms are to construct difference by the various combination of intersection between circle and circle based on TOA circumference equations
Positioning equation, the signal of RFID chip s to locating base station i propagates in sighting distance, and the distance measured is Di, RFID chip
One is positioned at using locating base station i as the center of circle, and Di is on the circumference of radius, and when there is 3 base station coordinates, the measurement equation of TOA is：
I=1,2,3,
In formula, (xi, yi) is the coordinate of i-th of base station, and (xs, ys) is the coordinate of RFID chip s；
It is obtained by (11) formula,
Can obtain intersecting lens equation by (12)-(13) is,
Similarly, the intersecting lens equation of the round intersection point in 3 liang of 2 base station of base station is：
The intersecting lens equation of base station 1 and base station 3 is obtained with identical method, since the 3rd article of intersection can equally pass through first 2 articles
The identical point of intersection, therefore, demand obtain the equation of 3 intersections wherein 2, can simultaneous solve intersecting point coordinate；
Simultaneous equations (15), equation (16), obtain：
Wherein,
In two dimensional surface positioning system, minimum base station number is 3, when base station number is more than 3, is asked by least square method
Solving equations.
Advantages of the present invention and good effect are：The present invention by monitoring unmanned module may be implemented 360 degree without dead angle,
Conduct monitoring at all levels is carried out without distance limitation, without height limitation, substantially increases the security monitoring effect of work progress；Pass through simultaneously
Locating module carries out positioning and track following in real time to the personnel for entering construction site so that administrative staff can understand entrance in real time
The position and motion track that the personnel of construction site are presently in, thus when the prominent event of appearance, such as energy when accident or injures and deaths
It is enough to find and dispose in time, it avoids being delayed the time of suing and labouring because of unmanned find, by the signal arrival mesh for obtaining transmitter transmitting
Mark returns again to the time of transmitter, obtains RFID chip to the distance of base station, positioning accuracy height by the propagation time.The present invention can have
Security risk is eliminated on effect ground to be controlled and solves in real time in budding state, and to the problem and accident, therefore
It can ensure that the safety of construction personnel and can timely and effectively be disposed when pinpointing the problems.
Description of the drawings
Fig. 1 is the construction of prevention work platform structure block diagram of skyscraper provided in an embodiment of the present invention.
In figure：1, monitoring unmanned module；2, flue dust detection module；3, temperature detecting module；4, central control module；5、
Vibration detection module；6, security alarm module；7, locating module；8, display module.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the construction of prevention work platform of skyscraper provided by the invention includes：Monitoring unmanned module 1, flue dust
Detection module 2, temperature detecting module 3, central control module 4, vibration detection module 5, security alarm module 6, locating module 7,
Display module 8.
Monitoring unmanned module 1 is connect with central control module 4, for carrying out construction site monitoring by unmanned plane；
Flue dust detection module 2 is connect with central control module 4, for by smoke gas sensor to construction site flue dust into
Row detection；
Temperature detecting module 3 is connect with central control module 4, for by temperature sensor to construction site temperature into
Row detection；
Central control module 4, with monitoring unmanned module 1, flue dust detection module 2, temperature detecting module 3, vibration detection
Module 5, security alarm module 6, locating module 7, display module 8 connect, for dispatching modules normal work；
Vibration detection module 5 is connect with central control module 4, for passing through vibrating sensor to construction site vibration number
According to being detected；
Security alarm module 6 is connect with central control module 4, tight for being carried out to site safety accident by alarm
Anxious alarm；
Locating module 7 is connect with central control module 4, is positioned to construction personnel for passing through RFID chip；
Display module 8 is connect with central control module 4, the information for showing detection construction site.
7 localization method of locating module provided by the invention is as follows：
When first, into building site, receives and read each to enter by the RFID card reader mounted in construction site inlet and apply
The personnel identity information of the RFID chip of the personnel at work scene realizes the contactless identification to personnel；Through identification
Personnel afterwards let pass through pass gates, and verification is not refused then to put by personnel；
Secondly, into the personnel in construction site by the RFID chip on its safety cap to the RFID being arranged in floor
Locating base station sends out radiofrequency signal, reports its approximate location；
Then, when construction personnel enters construction location, the RFID chip on safety cap is by being arranged in each floor
A radio frequency locator nearest from personnel activation in multiple radio frequency locators of multiple regional areas, and to construction personnel position
It sets and is positioned, which is sent to RFID locating base stations by the identity information of the construction personnel and location information；Institute
It states RFID locating base stations and the identity information of the construction personnel and location information is sent to monitor supervision platform or the movement of administrative staff
Client；
Finally, monitor supervision platform is real-time with plane or 3 D monitoring model in the mobile client of large screen or administrative staff
Show the identity information and location information of construction personnel.
RFID chip provided by the invention has the identity label ID number of safety cap wearer, and base is positioned with the RFID
It stands and radio frequency locator is wirelessly connected and communication.
The radiofrequency signal coverage area of RFID locating base stations provided by the invention is 50~60 rice diameter ranges.
Radio frequency locator provided by the invention is the low frequency positioner that tranmitting frequency is 125KHz~134KHz, and setting exists
In each room of the hot work in progress of each floor, the personnel in 1~8 meter can be accurately positioned.
The central control module uses the PID control based on particle cluster algorithm；
I-th of particle is expressed as Xi=(xi1,xi2,…,xiD), then it is empty in solution just to track two " extreme values " for particles
Between middle search, the 1st extreme value is the optimal solution that particle itself is found, this solution is referred to as individual extreme value pBest, it is denoted as Pi=
(pi1,pi2,…,piD)；2nd extreme value is the desired positions (having best fitness) that all particles of group live through, this pole
Value is exactly global extremum gBest, it is denoted as Pg=(pg1,pg2,…,pgD) only uses wherein one alternatively, it is also possible to not have to entire population
Neighbours of the part as particle, then the extreme value in all neighbours is exactly local extremum, the speed V of particle ii=(vi1,
vi2,…,viD) indicate, and the position of each particle is exactly a potential solution, in iterating to calculate each time, the of particle
D dimensions (1≤d≤D) update speed and the position of oneself according to following formula：
Wherein, rand () is the random function changed in [0,1] range；C1 and c2 is positive real number, referred to as accelerated factor, is used
To adjust the step-length of each iteration；W is inertia weight；N=1,2 ... it is iterations.
Further, the particle cluster algorithm in PID control uses real coding, direct for the particle in pid parameter optimizing
It is encoded to (Kp, Ki, K d), using two fitness functions:
To in non-minimum phase system PI controllers and PD control device adjust respectively, parameter coding be respectively (KPI,
KI) and (KPD,KD), PI controllers, which are mainly that reduction system is negative, to be adjusted, and selects following performance indicator as fitness function：
Two in formula are respectively the absolute mistake for inhibiting the negative system output absolute value adjusted and inhibiting overshoot and adjustment time
Difference-product point (ITAE)；C is weighted factor, adjusts the importance inhibited, the purpose of PD control device mainly to improve to negative for emphasizing
The transient response of system reduces overshoot, so selecting type (4) is used as fitness function；
The control algolithm of PI/PD controllers is
U=SPIUPI+SPDUPD (6)
Wherein, SPIAnd SPDFor smoothing factor, PI controllers (UPI) and PD control device (UPD) be respectively
Because PI controllers and PD control device are that independent optimization obtains under different performance indicators, therefore are introduced smooth
Factor e (t) adjusts the weight of the two, defines the gain S of PI controllersPIFor
Wherein n is the order of smoothing factor, then the gain of PD control device is
SPD=1-SPI。 (10)
Further, RFID chip sends out the radiofrequency signal for reporting its approximate location to RFID locating base stations, using TOA
Location algorithm；
TOA location algorithms are to construct difference by the various combination of intersection between circle and circle based on TOA circumference equations
Positioning equation, the signal of RFID chip s to locating base station i propagates in sighting distance, and the distance measured is Di, RFID chip
One is positioned at using locating base station i as the center of circle, and Di is on the circumference of radius, and when there is 3 base station coordinates, the measurement equation of TOA is：
I=1,2,3,
In formula, (xi, yi) is the coordinate of i-th of base station, and (xs, ys) is the coordinate of RFID chip s；
It is obtained by (11) formula,
Can obtain intersecting lens equation by (12)-(13) is,
Similarly, the intersecting lens equation of the round intersection point in 3 liang of 2 base station of base station is：
The intersecting lens equation of base station 1 and base station 3 is obtained with identical method, since the 3rd article of intersection can equally pass through first 2 articles
The identical point of intersection, therefore, demand obtain the equation of 3 intersections wherein 2, can simultaneous solve intersecting point coordinate；
Simultaneous equations (15), equation (16), obtain：
Wherein,
In two dimensional surface positioning system, minimum base station number is 3, when base station number is more than 3, is asked by least square method
Solving equations.
When the present invention works, construction site is monitored by monitoring unmanned module 1；By flue dust detection module 2 to applying
Work scene flue dust is detected；Construction site temperature is detected by temperature detecting module 3；Central control module 4 is dispatched
Vibration detection module 5 is detected construction site vibration data；Site safety accident is carried out by security alarm module 6 tight
Anxious alarm；Construction personnel is positioned by locating module 7；Finally, the letter of detection construction site is shown by display module 8
Breath.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (8)
1. a kind of construction of prevention work platform of skyscraper, which is characterized in that the construction of prevention work platform of the skyscraper includes：
Monitoring unmanned module, flue dust detection module, temperature detecting module, central control module, vibration detection module, safety report
Alert module, locating module, display module；
Monitoring unmanned module, connect with central control module, for carrying out construction site monitoring by unmanned plane；
Flue dust detection module, connect with central control module, is detected to construction site flue dust for passing through smoke gas sensor；
Temperature detecting module is connect with central control module, is detected to construction site temperature for passing through temperature sensor；
Central control module, with monitoring unmanned module, flue dust detection module, temperature detecting module, vibration detection module, safety
Alarm module, locating module, display module connection, for dispatching modules normal work；
Vibration detection module, connect with central control module, for being carried out to construction site vibration data by vibrating sensor
Detection；
Security alarm module is connect with central control module, for carrying out emergency alarm to site safety accident by alarm；
Locating module is connect with central control module, is positioned to construction personnel for passing through RFID chip；
Display module is connect with central control module, the information for showing detection construction site.
2. the construction of prevention work platform of skyscraper as described in claim 1, which is characterized in that the locating module localization method is such as
Under：
When first, into building site, is received and read by the RFID card reader mounted in construction site inlet and is each existing into construction
The personnel identity information of the RFID chip of the personnel of field realizes the contactless identification to personnel；After identification
Personnel let pass through pass gates, and verification is not refused then to put by personnel；
Secondly, it is positioned into the personnel in construction site to the RFID being arranged in floor by the RFID chip on its safety cap
Base station sends out radiofrequency signal, reports its approximate location；
Then, when construction personnel enters construction location, the RFID chip on safety cap is by being arranged in the multiple of each floor
The radio frequency locator activation nearest from the personnel in multiple radio frequency locators of regional area, and to construction personnel position into
The identity information of the construction personnel and location information are sent to RFID locating base stations by row positioning, the radio frequency locator；It is described
The identity information of the construction personnel and location information are sent to monitor supervision platform or the mobile visitor of administrative staff by RFID locating base stations
Family end；
Finally, monitor supervision platform in the mobile client of large screen or administrative staff with plane or 3 D monitoring model real-time display
The identity information and location information of construction personnel.
3. the construction of prevention work platform of skyscraper as claimed in claim 2, which is characterized in that the RFID chip has safety cap
The identity label ID number of wearer is wirelessly connected and communicates with the RFID locating base stations and radio frequency locator.
4. the construction of prevention work platform of skyscraper as claimed in claim 2, which is characterized in that the radio frequency of the RFID locating base stations
Signal cover is 50~60 rice diameter ranges.
5. the construction of prevention work platform of skyscraper as claimed in claim 2, which is characterized in that the radio frequency locator is transmitting frequency
Rate is the low frequency positioner of 125KHz~134KHz, is arranged in each room of the hot work in progress of each floor, can be to 1~8
Personnel in rice are accurately positioned.
6. the construction of prevention work platform of skyscraper as described in claim 1, which is characterized in that the central control module uses base
In the PID control of particle cluster algorithm；
I-th of particle is expressed as Xi=(xi1,xi2,…,xiD), then particles just track two " extreme values " in solution space
Search, the 1st extreme value is the optimal solution that particle itself is found, this solution is referred to as individual extreme value pBest, it is denoted as Pi=(pi1,
pi2,…,piD)；2nd extreme value is the desired positions (having best fitness) that all particles of group live through, this extreme value is just
It is global extremum gBest, it is denoted as Pg=(pg1,pg2,…,pgD) only uses a portion alternatively, it is also possible to not have to entire population
As the neighbours of particle, then the extreme value in all neighbours is exactly local extremum, the speed V of particle ii=(vi1,vi2,…,
viD) indicate, and the position of each particle is exactly a potential solution, in iterating to calculate each time, the d dimensions of particle (1≤
D≤D) speed and the position of oneself are updated according to following formula：
Wherein, rand () is the random function changed in [0,1] range；C1 and c2 is positive real number, referred to as accelerated factor, for adjusting
Save the step-length of each iteration；W is inertia weight；N=1,2 ... it is iterations.
7. the construction of prevention work platform of skyscraper as claimed in claim 6, which is characterized in that the particle cluster algorithm in PID control
It is (Kp, Ki, Kd) for the particle direct coding in pid parameter optimizing, using two fitness functions using real coding:
To in non-minimum phase system PI controllers and PD control device adjust respectively, parameter coding be respectively (KPI,KI)
(KPD,K D), PI controllers, which are mainly that reduction system is negative, to be adjusted, and selects following performance indicator as fitness function：
Two in formula are respectively to inhibit the negative system output absolute value adjusted and the absolute error of overshoot and adjustment time is inhibited to accumulate
Divide (ITAE)；C is weighted factor, adjusts the importance inhibited to negative for emphasizing, the purpose of PD control device is mainly improvement system
Transient response, reduce overshoot, so selecting type (4) be used as fitness function；
The control algolithm of PI/PD controllers is
U=SPIUPI+SPDUPD (6)
Wherein, SPIAnd SPDFor smoothing factor, PI controllers (UPI) and PD control device (UPD) be respectively
Because PI controllers and PD control device are that independent optimization obtains under different performance indicators, therefore introduce smoothing factor
E (t) adjusts the weight of the two, defines the gain S of PI controllersPIFor
Wherein n is the order of smoothing factor, then the gain of PD control device is
SPD=1-SPI。 (10)
8. the construction of prevention work platform of skyscraper as claimed in claim 2, which is characterized in that RFID chip is to RFID locating base stations
The radiofrequency signal for reporting its approximate location is sent out, using TOA location algorithms；
TOA location algorithms are to be based on TOA circumference equations, by the various combination of intersection between circle and circle, construct and different determine
The signal of azimuth equation, RFID chip s to locating base station i is propagated in sighting distance, and the distance measured is Di, and RFID chip is certain
Positioned at using locating base station i as the center of circle, Di is on the circumference of radius, and when there is 3 base station coordinates, the measurement equation of TOA is：
I=1,2,3,
In formula, (xi, yi) is the coordinate of i-th of base station, and (xs, ys) is the coordinate of RFID chip s；
It is obtained by (11) formula,
Can obtain intersecting lens equation by (12)-(13) is,
Similarly, the intersecting lens equation of the round intersection point in 3 liang of 2 base station of base station is：
The intersecting lens equation of base station 1 and base station 3 is obtained with identical method, since the 3rd article of intersection can equally pass through preceding 2 articles of intersections
Identical point, therefore, demand obtains the equation of 3 intersections wherein 2, can simultaneous solve intersecting point coordinate；
Simultaneous equations (15), equation (16), obtain：
Wherein,
In two dimensional surface positioning system, minimum base station number is 3, when base station number is more than 3, passes through least square method solution side
Journey group.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020056677A1 (en) * | 2018-09-20 | 2020-03-26 | 中建科技有限公司深圳分公司 | Violation detection method, system, and device for building construction site |
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| CN112699858B (en) * | 2021-03-24 | 2021-05-18 | 中国人民解放军国防科技大学 | Unmanned platform smoke fog sensing method and system, computer equipment and storage medium |
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