CN112148037A - Steel structure lifting posture adjusting method and adjusting system based on fuzzy control - Google Patents
Steel structure lifting posture adjusting method and adjusting system based on fuzzy control Download PDFInfo
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- CN112148037A CN112148037A CN202011028689.0A CN202011028689A CN112148037A CN 112148037 A CN112148037 A CN 112148037A CN 202011028689 A CN202011028689 A CN 202011028689A CN 112148037 A CN112148037 A CN 112148037A
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- G05D3/12—Control of position or direction using feedback
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- E—FIXED CONSTRUCTIONS
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- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
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Abstract
The invention provides a steel structure lifting posture adjusting method and system based on fuzzy control, wherein the steel structure lifting posture adjusting method based on the fuzzy control comprises the following steps: providing a steel structure, wherein a plurality of lifting points are arranged on the steel structure; collecting elevation data of each lifting point, taking the elevation of one lifting point as a reference elevation, and calculating the height difference and the height difference change rate between the elevations of the rest lifting points and the reference elevation; comparing the height difference of each lifting point with a set value; when the height difference of the lifting point is larger than or equal to the set value, calculating the accurate value of the adjustment height of the lifting point according to the height difference of the lifting point and the data of the height difference change rate through a fuzzy control algorithm; and adjusting the elevation of each lifting point according to the accurate value of the height adjustment of each lifting point. Various uncertain factors are summarized into a series of rules through a fuzzy control algorithm, and the adjustment height of each lifting point is quantified, so that the adjustment of the lifting posture of the steel structure is realized.
Description
Technical Field
The invention relates to the technical field of steel structure integral installation engineering, in particular to a steel structure lifting posture adjusting method and a steel structure lifting posture adjusting system based on fuzzy control.
Background
The large-scale steel structure hydraulic integral lifting is widely applied, synchronous control lifting technology generally adopts synchronous control on a plurality of hydraulic lifting oil cylinders in a stroke, and the hydraulic integral lifting is actually a nonlinear complex transmission system. Besides the synchronous errors of a plurality of hydraulic oil cylinders, the hydraulic system also has steel strand elastic errors, anchor device conversion errors, oil cylinder processing errors, adjustment errors and the like.
The elastic error of the steel strand means that the lifting force of each lifting oil cylinder is different from the quantity of the correspondingly configured steel strands in the process of lifting the lifted object from a low position to a high position, so that the length of the steel strand of each lifter is nonlinearly changed in each lifting stroke, and the lifting stroke of the oil cylinder generates an error relative to the actual lifting height of the lifted object.
The anchor conversion error means that when the lifting oil cylinder is lifted to the top with load or is lowered to the bottom with no load each time, the anchor conversion is needed, and when the anchor is converted, the clamping piece is clamped by bringing the clamping piece into the base through the movement of the lifting oil cylinder so that the clamping piece completely clamps the steel strand. This may result in a certain distance of drop height for the lifted weight, and the different drop heights at the multiple lifting points may cause an anchor conversion error.
The machining error of the oil cylinder means that the extension strokes of the oil cylinders are different due to the machining error of the oil cylinder during manufacturing.
The adjustment error is divided into an oil cylinder positioning inertia error and an oil cylinder stroke sensor installation error. The oil cylinder positioning inertia error means that when the posture is required to be adjusted, a plurality of elevation differences of the lifted object are actually measured and used as oil cylinder adjustment stroke values. The actual positioning length of each oil cylinder generates inertia overshoot when the oil cylinder extends to a set stroke position due to different oil pressure and flow, and the positioning inertia error of the oil cylinder is caused by different inertia overshoot differences; the installation error of the oil cylinder stroke sensor means that a certain included angle is formed between the installation of the stroke sensor and the motion direction of the oil cylinder, namely, the displacement data measured by the stroke sensor cannot truly reflect the actual extension length of the oil cylinder.
The errors are difficult to be expressed by an accurate mathematical model or a transfer function, after a plurality of strokes are lifted in an accumulated mode, the errors are amplified continuously to cause the lifted structure to incline, the lifting operation can only be suspended in the prior art, the elevation of each lifting point is measured manually, the lifting control system sets the elevation difference of the lifting points to the stroke of each oil cylinder manually, and then the posture is adjusted.
Disclosure of Invention
The invention aims to provide a steel structure lifting posture adjusting method and a steel structure lifting posture adjusting system based on fuzzy control.
In order to achieve the purpose, the invention provides a steel structure lifting posture adjusting method based on fuzzy control, which comprises the following steps:
providing a steel structure, wherein a plurality of lifting points are arranged on the steel structure;
collecting elevation data of each lifting point, taking the elevation of one lifting point as a reference elevation, and calculating the height difference and the height difference change rate between the elevations of the rest lifting points and the reference elevation;
comparing the height difference of each lifting point with a set value;
when the height difference of the lifting point is larger than or equal to the set value, calculating the accurate value of the adjustment height of the lifting point according to the height difference of the lifting point and the data of the height difference change rate through a fuzzy control algorithm;
and adjusting the elevation of each lifting point according to the accurate value of the height adjustment of each lifting point.
Optionally, when the height difference of the lifting point is greater than or equal to the set value, the step of calculating the accurate value of the height adjustment of the lifting point by using a fuzzy control algorithm specifically includes:
respectively dispersing the height difference, the height difference change rate and the adjustment height of the lifting point into a first fuzzy subset, a second fuzzy subset and a third fuzzy subset;
setting domains of the first fuzzy subset, the second fuzzy subset and the third fuzzy subset;
constructing a fuzzy rule control table, fuzzifying the height difference and the height difference change rate of the hoisting point by selecting a membership function to obtain a fuzzy matrix of the height difference and a fuzzy matrix of the height difference change rate, and reasoning the fuzzy matrix of the height difference and the fuzzy matrix of the height difference change rate by the fuzzy rule control table to obtain a fuzzy matrix of the adjustment height of the hoisting point;
and carrying out anti-fuzzy processing on the fuzzy matrix of the height adjustment of the hoisting point, and outputting an accurate value of the height adjustment.
Optionally, the membership function is a triangular membership function.
Optionally, the fuzzy matrix of the adjustment height of the hoisting point is subjected to an anti-fuzzy process by using a maximum membership principle, and an accurate value of the adjustment height is output.
Optionally, the initial elevations of the respective hoisting points are the same.
Optionally, when the height difference of the hoisting point is smaller than the set value, the hoisting height of the hoisting point is the same as the hoisting height of the hoisting point serving as the reference height.
Optionally, when the height difference of the hoisting point is greater than or equal to the set value, the lifting height of the hoisting point is equal to the sum of the accurate value of the adjustment height of the hoisting point and the lifting height of the hoisting point serving as the reference height.
Based on this, this application still provides a steel construction promotes gesture adjustment system based on fuzzy control, includes:
the device comprises a steel structure, a plurality of hoisting points are arranged on the steel structure, and an alignment prism is arranged at each hoisting point;
each total station corresponds to one alignment prism and is used for recording the elevation of the lifting point;
the data collecting and processing module is used for receiving elevation data recorded by the total station, taking the elevation of a certain hoisting point as a reference elevation, and calculating the elevation difference and the elevation difference change rate between the elevations of the rest hoisting points and the reference elevation;
the comparison module is used for receiving the height difference and the height difference change rate data of each lifting point, comparing the height difference of each lifting point with a set value, and outputting the height difference and the height difference change rate data of the lifting points when the height difference of the lifting points is greater than or equal to the set value;
the fuzzy control module is used for receiving the data output by the comparison module and calculating an accurate value of the height adjustment of the lifting point according to the height difference of the lifting point and the data of the height difference change rate through a fuzzy control algorithm;
and the lifting module is used for receiving the accurate value of the height adjustment of each lifting point, is connected with the lifting point and adjusts the elevation of each lifting point according to the accurate value of the height adjustment of each lifting point.
Optionally, the fuzzy control module includes:
the definition unit is used for respectively dispersing the height difference, the height difference change rate and the adjustment height into a first fuzzy subset, a second fuzzy subset and a third fuzzy subset, setting the domains of the first fuzzy subset, the second fuzzy subset and the third fuzzy subset and constructing a fuzzy rule control table;
the fuzzification unit is used for fuzzifying the height difference and the height difference change rate of the hoisting point by selecting a membership function to obtain a height difference fuzzy matrix and a height difference change rate fuzzy matrix, and the height difference fuzzy matrix and the height difference change rate fuzzy matrix are subjected to reasoning by the fuzzy rule control table to obtain a height adjustment fuzzy matrix of the hoisting point;
and the defuzzification unit is used for performing defuzzification processing on the fuzzy matrix of the height adjustment of the hoisting point and outputting an accurate value of the height adjustment.
Optionally, the membership function is a triangular membership function.
Optionally, the fuzzy matrix of the adjustment height of the hoisting point is subjected to an anti-fuzzy process by using a maximum membership principle.
Optionally, the initial elevations of the respective hoisting points are the same.
Optionally, when the height difference of the lifting points is smaller than the set value, the lifting heights of the lifting points are the same.
Optionally, when the height difference of the hoisting point is greater than or equal to the set value, the lifting height of the hoisting point is equal to the sum of the accurate value of the adjustment height of the hoisting point and the lifting height of the hoisting point serving as the reference height.
Optionally, the lifting module includes a hydraulic system and a plurality of hydraulic cylinders, the hydraulic system is configured to receive an accurate value of the height adjustment of each lifting point and control a stroke of each hydraulic cylinder, and each hydraulic cylinder corresponds to one lifting point to adjust an elevation of the lifting point.
Optionally, the hydraulic cylinder is connected with the lifting point through a steel strand.
Optionally, a stroke sensor is further disposed on the hydraulic oil cylinder, and the stroke sensor is connected to the data collecting and processing module to send the stroke amount of the hydraulic oil cylinder to the data collecting and processing module.
The invention provides a steel structure lifting posture adjusting method and system based on fuzzy control, when the height difference of lifting points is larger than or equal to a set value, various uncertain factors are summarized into a series of rules through a fuzzy control algorithm, and the adjustment height of each lifting point is quantified by utilizing a fuzzy set theory, so that the adjustment of the integral hydraulic lifting posture of a steel structure is realized.
Drawings
Fig. 1 is a step diagram of a steel structure lifting posture adjustment method based on fuzzy control according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a steel structure lifting posture adjustment system based on fuzzy control according to an embodiment of the present invention;
tables 1 to 2 are a membership table and a fuzzy rule control table provided in the embodiment of the present invention, respectively;
wherein the reference numerals are:
10-steel structure; 20-an alignment prism; 30-a total station; 40-a control computer; 50-a hydraulic system; 60-a hydraulic oil cylinder; 70-stroke sensor.
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As shown in fig. 1, the embodiment provides a steel structure lifting posture adjustment method based on fuzzy control, including:
step S1: providing a steel structure, wherein a plurality of lifting points are arranged on the steel structure;
step S2: collecting elevation data of each lifting point, taking the elevation of one lifting point as a reference elevation, and calculating the height difference and the height difference change rate between the elevations of the rest lifting points and the reference elevation;
step S3: comparing the height difference of each lifting point with a set value;
step S4: when the height difference of the lifting point is larger than or equal to the set value, calculating the accurate value of the adjustment height of the lifting point according to the height difference of the lifting point and the data of the height difference change rate through a fuzzy control algorithm;
step S5: and adjusting the elevation of each lifting point according to the accurate value of the height adjustment of each lifting point.
Specifically, step S1 is executed first, and a steel structure is provided, where a plurality of hanging points are disposed on the steel structure. In this embodiment, the steel construction generally is large-scale steel construction, can be regular shape's steel construction, also can be special-shaped steel construction, and this application does not do the restriction to this.
Furthermore, a plurality of hoisting points for hoisting are arranged on the steel structure, and the initial elevations of the hoisting points are the same. The number of lifting points can be 2, 4, 8 or even more, which is not limited in this application as well. In order to ensure the stability of the hoisting process, the initial elevations of all the hoisting points are generally the same. Of course, even if the initial elevation of the hoisting point is different, whether the steel structure has the condition of overlarge inclination can be judged through the difference value between the current elevation of the hoisting point and the initial elevation.
Then, step S2 is executed to collect altitude data of each suspension point, and the altitude of one of the suspension points is used as a reference altitude, and the altitude difference change rate between the altitude of the remaining suspension point and the reference altitude are calculated. In this embodiment, the selected current elevation of one of the hoisting points should be the elevation of the hoisting point with the middle-positioned altitude in all the hoisting points as the reference elevation, and then the current elevations of the other hoisting points are subtracted from the reference elevation to obtain the elevation difference between the elevation of the hoisting point and the reference elevation. The height difference change rate can be understood as the slope of the height difference change and can be obtained by dividing the height difference change by time.
Then, step S3 is executed to compare the height difference of each suspension point with a set value. In this embodiment, the set value is an artificially set value, which is substantially a threshold value for lifting posture adjustment, and can be set according to construction requirements and experience. And when the height difference of the hoisting points is smaller than the set value, the steel structure does not need to be adjusted in lifting posture, the steel structure can be continuously lifted, and the lifting height of each hoisting point is the same. And then after the lifting is carried out for a certain time or a certain height, the steps S2-S3 are repeated, and the real-time height difference of each lifting point is continuously compared with the set value.
When the height difference of a certain lifting point is greater than or equal to the set value, step S4 is executed again, and the precise value of the adjustment height of the lifting point is calculated according to the height difference of the lifting point and the data of the change rate of the height difference by the fuzzy control algorithm. When the height difference of the lifting points is larger than or equal to the set value, the lifting posture of the steel structure is shown to be greatly inclined and needs to be adjusted, the accurate value of the adjustment height of the lifting points can be calculated through a fuzzy control algorithm according to the height difference and the height difference change rate data, various uncertain factors are summarized into a series of rules through the fuzzy control algorithm, the adjustment height of each lifting point is quantified through a fuzzy set theory, and the adjustment of the integral hydraulic lifting posture of the steel structure is achieved. Because an accurate mathematical model of a controlled object is not required to be established in the design, the control mechanism and the strategy are easy to accept and understand, the design is simple, and the application is convenient.
In this embodiment, the hoisting point as the reference elevation has a fixed hoisting height, when the height difference of the hoisting point is smaller than the set value, the hoisting height of the hoisting point is the same as the hoisting height of the hoisting point as the reference elevation, and when the height difference of the hoisting point is greater than or equal to the set value, the hoisting height of the hoisting point is equal to the sum of the accurate value of the adjustment height of the hoisting point and the hoisting height of the hoisting point as the reference elevation.
It should be understood that the height difference mentioned in this application should be a positive number, that is, when the elevation of the lifting point is greater than the reference elevation, the height difference is the elevation of the lifting point minus the reference elevation, and if the height difference of the lifting point is greater than the set value at this time, it indicates that the position of the lifting point is too high, and the final lifting height of the lifting point should be the fixed lifting height minus the adjustment height of the lifting point; when the elevation of hoisting point is less than the reference elevation, the difference in height is that the reference elevation subtracts the elevation of hoisting point, if the difference in height of hoisting point is greater than the setting value this moment, it is low excessively to explain the position that hoisting point is located, the final lifting height of hoisting point should be fixed lifting height plus the adjustment height of hoisting point.
Specifically, the step S4 specifically includes:
step S41: respectively dispersing the height difference, the height difference change rate and the adjustment height of the lifting point into a first fuzzy subset, a second fuzzy subset and a third fuzzy subset;
step S42: setting domains of the first fuzzy subset, the second fuzzy subset and the third fuzzy subset;
step S43: constructing a fuzzy rule control table, fuzzifying the height difference and the height difference change rate of the hoisting point by selecting a membership function to obtain a fuzzy matrix of the height difference and a fuzzy matrix of the height difference change rate, and reasoning the fuzzy matrix of the height difference and the fuzzy matrix of the height difference change rate by the fuzzy rule control table to obtain a fuzzy matrix of the adjustment height of the hoisting point;
step S44: and performing defuzzification processing on the fuzzy matrix of the height adjustment of the lifting point, and outputting an accurate value of the height adjustment.
With reference to tables 1-2, step S41 is first performed to discretize the height difference, the height difference change rate, and the adjustment height of the suspension point into a first fuzzy subset, a second fuzzy subset, and a third fuzzy subset, respectively. In this embodiment, the first fuzzy subset a is { NB, NS, ZO, PS, PB }, the second fuzzy subset B is { NB, NS, ZO, PS, PB }, and the third fuzzy subset C is { NB, NS, ZO, PS, PB }, where the fuzzy element NB is negative large, NS is negative small, ZO is zero, PS is positive small, and PB is positive large. Of course, the number of elements in the fuzzy subset may be 7 or more, which is not limited in this application.
TABLE 1
TABLE 2
Step S42 is then executed: the domains of discourse of the first fuzzy subset, the second fuzzy subset and the third fuzzy subset are set. In this embodiment, the domains of the first fuzzy subset, the second fuzzy subset and the third fuzzy subset are all (-2, 2), and of course, the domains may be set artificially. The variables above varying between (-2, 2) are divided into 5 levels as needed, each level being a fuzzy variable and corresponding to a fuzzy subset. In this embodiment, the "positive large" PB is selected to be near +2, and the "positive small" PS is selected to be near + 1; the "zero" ZO is chosen to be around 0; the "negative small" NS is chosen near-1 and the "negative large" NB is chosen near-2.
Then, step 43 is executed: and constructing a fuzzy rule control table, fuzzifying the height difference and the height difference change rate of the hoisting point by selecting a membership function to obtain a height difference fuzzy matrix and a height difference change rate fuzzy matrix, and reasoning the height difference fuzzy matrix and the height difference change rate fuzzy matrix by the fuzzy rule control table to obtain a height adjustment fuzzy matrix of the hoisting point. Specifically, the elevation difference and the accurate value of the elevation difference change rate of the lifting point are fuzzified to obtain a fuzzy matrix of the elevation difference and a fuzzy matrix of the elevation difference change rate, and then the fuzzy matrix of the height adjustment of the lifting point is obtained through inference of the fuzzy rule control table.
In this embodiment, the membership function is a triangular membership function, and certainly, other membership functions, such as an S-type membership function or a trapezoidal membership function, may be selected according to requirements, which is not limited in this application.
Then, step S44 is executed: and performing defuzzification processing on the fuzzy matrix of the height adjustment of the lifting point, and outputting an accurate value of the height adjustment. In this embodiment, the fuzzy matrix of the adjustment height of the hoisting point is defuzzified by using the maximum membership principle, and an accurate value of the adjustment height is output. Of course, other defuzzification methods, such as area-centric method and weighted average method, may be used as required, and the application is not limited thereto.
Finally, step S5 is executed: the elevation of each lifting point is adjusted according to the accurate value of the adjustment height of each lifting point so as to realize the adjustment of the lifting posture of the steel structure and ensure the safety and stability of the steel structure in the lifting process.
Based on this, this application still provides a steel construction promotes gesture adjustment system based on fuzzy control, combines fig. 2, includes:
the device comprises a steel structure 10, wherein a plurality of hoisting points are arranged on the steel structure 10, and an alignment prism 20 is arranged at each hoisting point;
each total station 30 corresponds to one alignment prism 20, and the total stations 30 are used for recording the elevation of the lifting point;
the data collecting and processing module is configured to receive elevation data recorded by the total station 30, use an elevation of a certain hoisting point as a reference elevation, and calculate a height difference and a height difference change rate between the elevations of the remaining hoisting points and the reference elevation;
the comparison module is used for receiving the height difference and the height difference change rate data of each lifting point, comparing the height difference of each lifting point with a set value, and outputting the height difference and the height difference change rate data of the lifting points when the height difference of the lifting points is greater than or equal to the set value;
the fuzzy control module is used for receiving the data output by the comparison module and calculating an accurate value of the height adjustment of the lifting point according to the height difference of the lifting point and the data of the height difference change rate through a fuzzy control algorithm;
and the lifting module is used for receiving the accurate value of the height adjustment of the lifting point, is connected with the lifting point of the steel structure 10, and adjusts the elevation of each lifting point according to the accurate value of the height adjustment of each lifting point.
Specifically, a plurality of lifting points are arranged on the steel structure 10, and the initial elevations of the lifting points are the same.
The total station 30 obtains the elevation of each lifting point in real time through the corresponding alignment prism 20, records the elevation data of the lifting point and transmits the elevation data to the data collecting and processing module.
The data collecting and processing module is used for processing data, the comparison module is used for comparing the processed data with a set value, and the fuzzy control module is used for sending a decision instruction. In this embodiment, the decision instructions include two types: when the height difference of the hoisting points is smaller than the set value, the fuzzy control module outputs a command of continuing to lift to the lifting module, and at the moment, the posture adjustment is not needed; and when the height difference of the lifting points is greater than or equal to the set value, calculating an accurate value of the adjustment height of the lifting points according to the height difference of the lifting points and the data of the height difference change rate through a fuzzy control algorithm, sending the accurate value to a lifting module, and performing differentiation control on the lifting of each lifting point to realize the posture adjustment of the steel structure 10.
In this embodiment, when the height difference of the hoisting point is smaller than the set value, the hoisting height of the hoisting point is the same as the hoisting height of the hoisting point serving as the reference height. And when the height difference of the lifting point is greater than or equal to the set value, the lifting height of the lifting point is equal to the sum of the accurate value of the adjustment height of the lifting point and the lifting height of the lifting point serving as the reference height.
In this embodiment, the data collecting and processing module, the comparing module and the fuzzy control module may be integrated on one control computer 40, so as to realize intelligent control of the steel structure 10.
Specifically, the fuzzy control module includes:
the definition unit is used for respectively dispersing the height difference, the height difference change rate and the adjustment height into a first fuzzy subset, a second fuzzy subset and a third fuzzy subset, setting the domains of the first fuzzy subset, the second fuzzy subset and the third fuzzy subset and constructing a fuzzy rule control table;
the fuzzification unit is used for fuzzifying the height difference and the height difference change rate of the hoisting point by selecting a membership function to obtain a height difference fuzzy matrix and a height difference change rate fuzzy matrix, and the height difference fuzzy matrix and the height difference change rate fuzzy matrix are subjected to reasoning by the fuzzy rule control table to obtain a height adjustment fuzzy matrix of the hoisting point;
and the defuzzification unit is used for performing defuzzification processing on the fuzzy matrix of the height adjustment of the hoisting point and outputting an accurate value of the height adjustment.
In this embodiment, the membership function is a triangular membership function.
In this embodiment, the fuzzy matrix of the adjustment height of the hoisting point is defuzzified by using the maximum membership principle.
In this embodiment, the lifting module includes a hydraulic system 50 and a plurality of hydraulic cylinders 60, where the hydraulic system 50 is configured to receive an accurate value of the adjusted height of the lifting point and control a stroke of each hydraulic cylinder 60, and each hydraulic cylinder 60 corresponds to a lifting point to adjust an elevation of the lifting point. The stroke of each hydraulic oil cylinder 60 is respectively controlled to realize the differentiated control of each lifting point, so that the lifting posture of the steel structure 10 is adjusted.
It will be appreciated that when attitude adjustment is required, each hydraulic ram 60 should have a fixed extension and so the final stroke of each hydraulic ram 60 should be the sum of the fixed extension and the precise value of the adjusted height of the respective lifting point.
In this embodiment, the hydraulic cylinder 60 is connected to the lifting point through a steel strand. Of course, the connection may be made by galvanized steel wire rope or other hoisting ropes, which is not limited in this application.
In this embodiment, the hydraulic oil cylinders 60 are further provided with stroke sensors 70, and the stroke sensors 70 are connected with the data collecting and processing module to send the stroke amounts of the hydraulic oil cylinders 60 to the data collecting and processing module, so as to form a closed-loop control system and ensure the control accuracy of each hydraulic oil cylinder 60.
To sum up, the embodiment of the invention provides a steel structure lifting posture adjusting method and system based on fuzzy control, and the steel structure lifting posture adjusting method based on fuzzy control comprises the following steps: providing a steel structure, wherein a plurality of lifting points are arranged on the steel structure; collecting elevation data of each lifting point, taking the elevation of one lifting point as a reference elevation, and calculating the height difference and the height difference change rate between the elevations of the rest lifting points and the reference elevation; comparing the height difference of each lifting point with a set value; when the height difference of the lifting point is larger than or equal to the set value, calculating the accurate value of the adjustment height of the lifting point according to the height difference of the lifting point and the data of the height difference change rate through a fuzzy control algorithm; the elevation of each lifting point is adjusted according to the accurate value of the adjustment height of each lifting point, various uncertain factors are summarized into a series of rules through a fuzzy control algorithm, the adjustment height of each lifting point is quantified by utilizing a fuzzy set theory, and the adjustment of the integral hydraulic lifting posture of the steel structure is realized.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (17)
1. A steel structure lifting posture adjusting method based on fuzzy control is characterized by comprising the following steps:
providing a steel structure, wherein a plurality of lifting points are arranged on the steel structure;
collecting elevation data of each lifting point, taking the elevation of one lifting point as a reference elevation, and calculating the height difference and the height difference change rate between the elevations of the rest lifting points and the reference elevation;
comparing the height difference of each lifting point with a set value;
when the height difference of the lifting point is larger than or equal to the set value, calculating the accurate value of the adjustment height of the lifting point according to the height difference of the lifting point and the data of the height difference change rate through a fuzzy control algorithm;
and adjusting the elevation of each lifting point according to the accurate value of the height adjustment of each lifting point.
2. The steel structure lifting posture adjusting method based on fuzzy control as claimed in claim 1, wherein when the height difference of the lifting point is greater than or equal to the set value, the step of calculating the accurate value of the adjustment height of the lifting point by the fuzzy control algorithm specifically comprises:
respectively dispersing the height difference, the height difference change rate and the adjustment height of the lifting point into a first fuzzy subset, a second fuzzy subset and a third fuzzy subset;
setting domains of the first fuzzy subset, the second fuzzy subset and the third fuzzy subset;
constructing a fuzzy rule control table, fuzzifying the height difference and the height difference change rate of the hoisting point by selecting a membership function to obtain a fuzzy matrix of the height difference and a fuzzy matrix of the height difference change rate, and reasoning the fuzzy matrix of the height difference and the fuzzy matrix of the height difference change rate by the fuzzy rule control table to obtain a fuzzy matrix of the adjustment height of the hoisting point;
and performing defuzzification processing on the fuzzy matrix of the height adjustment of the lifting point, and outputting an accurate value of the height adjustment.
3. The steel structure lifting posture adjusting method based on the fuzzy control as claimed in claim 2, wherein the membership function is a triangular membership function.
4. The steel structure lifting posture adjusting method based on the fuzzy control as claimed in claim 2, characterized in that the fuzzy matrix of the lifting point adjusting height is defuzzified by the principle of the maximum membership degree, and the accurate value of the adjusting height is outputted.
5. The steel structure lifting posture adjusting method based on the fuzzy control as claimed in claim 1, wherein the initial elevations of the lifting points are the same.
6. The steel structure lifting posture adjusting method based on the fuzzy control as claimed in claim 1, wherein when the height difference of the lifting point is less than the set value, the lifting height of the lifting point is the same as the lifting height of the lifting point as a reference elevation.
7. The steel structure lifting posture adjusting method based on fuzzy control as claimed in claim 1, wherein when the height difference of the lifting point is greater than or equal to the set value, the lifting height of the lifting point is equal to the sum of the precise value of the adjustment height of the lifting point and the lifting height of the lifting point as the reference height.
8. The utility model provides a steel construction promotes gesture adjustment system based on fuzzy control which characterized in that includes:
the device comprises a steel structure, a plurality of hoisting points are arranged on the steel structure, and an alignment prism is arranged at each hoisting point;
each total station corresponds to one alignment prism and is used for recording the elevation of the lifting point;
the data collecting and processing module is used for receiving elevation data recorded by the total station, taking the elevation of a certain hoisting point as a reference elevation, and calculating the elevation difference and the elevation difference change rate between the elevations of the rest hoisting points and the reference elevation;
the comparison module is used for receiving the height difference and the height difference change rate data of each lifting point, comparing the height difference of each lifting point with a set value, and outputting the height difference and the height difference change rate data of the lifting points when the height difference of the lifting points is greater than or equal to the set value;
the fuzzy control module is used for receiving the data output by the comparison module and calculating an accurate value of the height adjustment of the lifting point according to the height difference of the lifting point and the data of the height difference change rate through a fuzzy control algorithm;
and the lifting module is used for receiving the accurate value of the height adjustment of each lifting point, is connected with the lifting point and adjusts the elevation of each lifting point according to the accurate value of the height adjustment of each lifting point.
9. The steel structure lifting posture adjusting system based on fuzzy control as claimed in claim 8, wherein said fuzzy control module comprises:
the definition unit is used for respectively dispersing the height difference, the height difference change rate and the adjustment height into a first fuzzy subset, a second fuzzy subset and a third fuzzy subset, setting the domains of the first fuzzy subset, the second fuzzy subset and the third fuzzy subset and constructing a fuzzy rule control table;
the fuzzification unit is used for fuzzifying the height difference and the height difference change rate of the hoisting point by selecting a membership function to obtain a height difference fuzzy matrix and a height difference change rate fuzzy matrix, and the height difference fuzzy matrix and the height difference change rate fuzzy matrix are subjected to reasoning by the fuzzy rule control table to obtain a height adjustment fuzzy matrix of the hoisting point;
and the defuzzification unit is used for performing defuzzification processing on the fuzzy matrix of the height adjustment of the hoisting point and outputting an accurate value of the height adjustment.
10. The system of claim 9, wherein the membership function is a triangular membership function.
11. The system for adjusting the lifting posture of the steel structure based on the fuzzy control as claimed in claim 9, wherein the fuzzy matrix of the adjustment height of the lifting point is defuzzified by using the principle of the maximum membership degree.
12. The system of claim 8, wherein the initial elevation of each lifting point is the same.
13. The system for adjusting the lifting posture of a steel structure based on fuzzy control of claim 8, wherein when the height difference of the lifting point is less than the set value, the lifting height of the lifting point is the same as the lifting height of the lifting point as a reference elevation.
14. The system for adjusting the lifting posture of a steel structure based on fuzzy control of claim 13, wherein when the height difference of the lifting point is greater than or equal to the set value, the lifting height of the lifting point is equal to the sum of the precise value of the adjustment height of the lifting point and the lifting height of the lifting point as the reference height.
15. The system for adjusting the lifting posture of a steel structure based on fuzzy control as claimed in claim 8, wherein said lifting module comprises a hydraulic system and a plurality of hydraulic cylinders, said hydraulic system is used for receiving the accurate value of the height adjustment of each lifting point and controlling the stroke of each hydraulic cylinder, each hydraulic cylinder corresponds to a lifting point to adjust the elevation of said lifting point.
16. The fuzzy control based steel structure lifting attitude adjustment system of claim 15 wherein the hydraulic ram is connected to the lifting point by a steel strand.
17. The system for adjusting the lifting posture of the steel structure based on the fuzzy control as claimed in claim 15, wherein a stroke sensor is further disposed on the hydraulic cylinder, and the stroke sensor is connected to the data collecting and processing module to send the stroke amount of the hydraulic cylinder to the data collecting and processing module.
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| CN202011028689.0A CN112148037A (en) | 2020-09-25 | 2020-09-25 | Steel structure lifting posture adjusting method and adjusting system based on fuzzy control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113686328A (en) * | 2021-09-13 | 2021-11-23 | 上海市机械施工集团有限公司 | Device and method for controlling component to lift spatial attitude |
| CN115924740A (en) * | 2022-12-29 | 2023-04-07 | 中铁建工集团有限公司 | Asynchronous lifting control method for large-span steel structure |
| CN113686328B (en) * | 2021-09-13 | 2024-06-07 | 上海市机械施工集团有限公司 | Device and method for controlling component to lift space posture |
-
2020
- 2020-09-25 CN CN202011028689.0A patent/CN112148037A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113686328A (en) * | 2021-09-13 | 2021-11-23 | 上海市机械施工集团有限公司 | Device and method for controlling component to lift spatial attitude |
| CN113686328B (en) * | 2021-09-13 | 2024-06-07 | 上海市机械施工集团有限公司 | Device and method for controlling component to lift space posture |
| CN115924740A (en) * | 2022-12-29 | 2023-04-07 | 中铁建工集团有限公司 | Asynchronous lifting control method for large-span steel structure |
| CN115924740B (en) * | 2022-12-29 | 2023-11-03 | 中铁建工集团有限公司 | Asynchronous lifting control method for large-span steel structure |
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