【摘要】 针对桥梁短线法节段梁预制施工过程的高精度控制问题，基于四元数法提出了匹配梁姿态调节控制算法，对误差需进一步修正的情况提出了迭代调位算法，并基于算法进行了匹配节段姿态调节现场实验.通过对实验数据进行对比分析，结果表明：基于所提算法实现了匹配梁一次调位轴线误差最大为3.2 mm,高程误差最大为1.7 mm,高于传统的人工调位控制精度，所提算法的正确性和有效性得以验；给出的一组迭代调位的实验数据表明，该匹配梁一共进行了2次迭代，最大误差由66.8 mm降低至5.5 mm再进一步降低至4.7 mm,迭代调位算法的有效性得以验证.所提方法，在实现调位控制精度高于传统人工的情况下，大幅减少了调位步骤、次数及时间，有效降低节段梁预制工期，有益于节段梁预制施工的数字化.更多还原

【Abstract】 Aiming at the problem of high-precision control in the prefabrication process of segmental beams by short-line method, an attitude adjustment control algorithm of matched beams was proposed based on quaternion method, and an iterative position adjustment algorithm was proposed for the situation that the error needs to be further corrected. Based on the algorithm, the field experiment of matching segment attitude adjustment was carried out. By comparing and analyzing the experimental data, the results show that the maximum axis error and the maximum elevation error of the matching beam are 3.2 mm and 1.7 mm based on the proposed algorithm, which is higher than the traditional manual positioning control accuracy, and the correctness and effectiveness of the proposed algorithm are verified. A set of experimental data of iterative positioning shows that the matching beam has been iterated twice, and the maximum error is reduced from 66.8 mm to 5.5 mm and then further to 4.7 mm, which verifies the effectiveness of the iterative positioning algorithm. The proposed method greatly reduces the steps, times and time of position adjustment, effectively reduces the prefabrication period of segmental beam, and is beneficial to the digitalization of segmental beam prefabrication construction.更多还原