Research On Coordinated Control Of The Double Bridge Girder Erection Transporters Combination Operation In Bridge

Passenger car has become one of the main transportation vehicles for family travel.Family car ownership continues to grow,traffic is very jam in major cities in china,especially in large cities such as Beijing which traffic network is already saturated.The traditional method for transformation of urban overpass needs at least three months,and if the ambient temperature is low,it needs more than five months.This will cause traffic congestion during peak periods,and seriously affect the quality of people's life.This brings pressure for traffic network is unimaginable,and The Social Cost is immeasurable which pay for this.In foreign,the urban overpass overall replacement construction method has developed a corresponding specification which use the SPMT as the core of device.It can reduce the pressure on the urban traffic network.It can reduce or even without interrupting traffic construction.However,there is no uniform plan of China's urban overpass,and the overpass design is different.So we need to design a set of Bridge Girder Erection transporter which adapt to Chinese urban overpass transformation.According to the actual demands of the overall transposition transformation for Chinese urban overpass,and combining with the problems when we design?install and debug the Bridge Girder Erection transporter.We conducted in-depth research on the double bridge girder erection transporters collaboration synchronization control.The main contents are as follows:(1)According to the demands of Chinese urban overpass construction without interrupting traffic and implementation scheme,we design a set of the Bridge Girder Erection transporter which adapt to the overall transposition method in china.This sets of device consists of two Bridge Girder Erection transporters,and it use a modular design.Compared with the conventional SPMT,Bridge Girder Erection transporters contains the hydraulic drive system,coordinated steering systems,suspension leveling system,auxiliary support systems.And the different is increasing the group of synchronous drive system,the group of the three-dimensional fine adjustment system and the group of synchronous jack-up system,all of this are based on double Bridge Girder Erection transporters collaboration.These functions satisfy the requirements of the overall replacement construction,reduced the error of the overall construction,improved the efficiency of construction.(2)According to the conditions of the construction site,it has two connection methods between the group of synchronous drive system which based on the double Bridge Girder Erection transporters collaboration,mechanical coupling and no mechanical coupling.When it is mechanical coupling,the connection steel girder equivalent to an elastic element,and this has interference between the motors of the two transporter.So we need to build a mathematical model of the motors between the two transporter,and determine the relationship of the motors' speed between the two transporter.When there is no mechanical coupling,there is no interference between the motors of the two transporters.So we need to analyze kinematics of the two transporters.We summarize several common anti-slip schemes of the motor,and analyze the advantages and disadvantages of each of each scheme,and propose the object which these schemes apply to,and the points for attention when install and debug.(3)For the domestic urban overpass has more bridge supports and higher positioning accuracy,we design the group of the three-dimensional fine adjustment system which based on double Bridge Girder Erection transporters collaboration.The three-dimensional fine adjustment system consists of at least four groups of three-dimensional fine adjustment unit,and each unit contains a jack-up cylinder and two horizontal cylinders.We deduce the calculation formula of cylinder wall-thickness under different shear stress and bending moment in the end surface to verify the security of cylinder wall-thickness when the jack-up cylinder bear shear stress.We plan the modes of the three-dimensional fine adjustment system,build the spatial position model,and deduced each actuator inverse position.(4)For the domestic urban overpass has no uniform height design and a larger lifting range.The general SPMTs have no universality of independently complete the bridge girder erection.So we design the group of synchronous jack-up system.The synchronous jack-up system use proportional valve to control cylinders in the form of a closed loop position control.In construction,it needs the system synchronize lifting off the beam stably.We use SimulationX which is a hydraulic simulation software to build a simulation model of the synchronous jack-up system,and analyzed the different open-loop system have an impact on the stability of closed-loop control under partial load condition.We build the AMESim simulation model of the load control valve based on it's mathematical model.We research the impact on system stability of load control valve with simulating and testing.(5)We analyzed the failure phenomenon which happened in the factory when we debug the double Bridge Girder Erection transporters collaboration.According to the test data to find out the cause of the fault,and present a reasonable solution.We debug the double Bridge Girder Erection transporters collaborative controller,and write the control program based on CAN bus.According to the research of coordinated control of the double bridge girder erection transporters combination operation in bridge,the bridge girder erection transporters which are designed and manufactured by us address the special requirements of urban overpass reconstruction in China.Using the complete sets of bridge girder erection transporters can improve the construction efficiency,reduce the traffic blocked time and save the social costs.Xiguan Island Ring and Sanyuan Bridge transformation projects verify the reliability of the double Bridge Girder Erection transporters coordinated control.