Synchronous drive control of the double bridge girder erection transporters combined operation

Abstract

In the overall replacement construction of Beijing Sanyuanqiao, double Bridge Girder Erection Transporters were needed to be drived synchronously. Through kinematic analysis on the joint operation of double Bridge Girder Erection Transporters based on screw theory, the maximum error allowed in the synchronous driving of the two can be determined. The cross-coupling control accuracy can meet the joint operation requirements of two vehicles drived synchronously, comparing equivalent control error with cross-coupling control error through simulation, which can be verified in field experiments.