Array type concrete servo support device and control method

Abstract

The present invention belongs to the field of foundation pit construction support, and provides an array-type concrete servo support device and a control method. The array-type concrete servo support device includes a multi-point synchronous load-bearing jack array, a high-precision servo feedback controller, a distributed cloud computing center, a short acoustic wave displacement sensor, a load balancing plate, a threaded transmission rod, a power driver, a high-torque speed reduction device, and a high-strength corrosion-resistant protective shell. The control method adopts the MPC model predictive control method to establish a foundation pit excavation model, and uses the current state and the prediction within a period of time in the future to calculate the control strategy. The array-type concrete servo support device adopts multi-point synchronous load-bearing, and multiple jacks are arranged on a single support, which can be adjusted independently, so as to make more accurate and flexible adjustments to the support axial force; at the same time, the control method can predict the future state of the enclosure structure, and continuously revise the prediction according to the current state, thereby reducing the risk of foundation pit construction.

Description

Technical Field

[0001] The present invention belongs to the field of foundation pit construction support, and in particular relates to an array-type concrete servo support device for a deep and large foundation pit in a soft soil area and a control method thereof. Background Art

[0002] Rational utilization of existing transportation corridors is a fundamental principle of transportation route selection. Routeing along existing transportation corridors helps conserve transportation land resources, leverage the advantages of existing lines, and leverage existing engineering experience. Furthermore, with the rapid development of urban rail transit, underground railway construction continues to expand. New urban rail transit lines often run parallel to existing lines, with close spacing and inconsistent construction sequences. Therefore, it is crucial to pay close attention to the impact of new line construction on the safety of existing lines.

[0003] In soft soil areas, servo steel supports and servo concrete supports are often used as supports for deep foundation pit excavations. Servo concrete supports are widely used due to their high rigidity, strong bearing capacity, and flexible planar layout. However, existing concrete servo support ends often cannot fully utilize the bearing capacity of concrete supports, and can only adjust the axial force at a single position during regulation, which is very inflexible. At the same time, existing concrete servo support axial force adjustment methods are usually based on on-site real-time monitoring, which cannot predict the future state of the foundation pit soil and surrounding structures. In addition, the lag caused by using on-site monitoring data as the basis for regulation is high, which is not conducive to precise control of the project.

[0004] Based on the above characteristics, solving the problems of insufficient bearing capacity of concrete servo support, inflexible and precise adjustment of servo head axial force, and large lag of axial force adjustment method will help promote the use of concrete servo support, provide safer and more efficient support technology and methods for foundation pit excavation, and have important engineering significance for foundation pit projects. Summary of the Invention

[0005] The purpose of the present invention is to provide a servo head and a control method to solve the problems in related technologies such as insufficient bearing capacity of concrete servo support, insufficient flexibility and accuracy in adjusting the axial force of the servo head, and large hysteresis of the axial force control method.

[0006] One aspect of the present invention provides an array-type concrete servo support device, including a high-precision servo feedback controller, a distributed cloud computing center, a multi-point synchronous load-bearing jack array, a short acoustic wave displacement sensor, a load balancing plate, a threaded transmission rod, a power drive, a high-torque speed reduction device, and a high-strength corrosion-resistant protective shell.

[0007] Furthermore, the array-type concrete servo support device is located at the concrete support end where the servo device is required to be installed in the foundation pit, providing compensation axial force for the concrete support. The array-type concrete servo support device is axially force-controlled by a multi-point synchronous load-bearing jack array. The beneficial effect is that it can fully exert the bearing capacity of the concrete servo support and realize precise control of the axial force.

[0008] Furthermore, the multi-point synchronous load-bearing jack array is evenly arranged in a high-strength corrosion-resistant protective shell, which has the beneficial effect of fully utilizing the advantage of the large bearing capacity of the concrete support through multi-point synchronous load-bearing.

[0009] Furthermore, the load balancing plate is connected to the end of the threaded transmission rod, and the threaded transmission rod passes through the high-strength corrosion-resistant protective shell respectively and is arranged on both sides of the multi-point synchronous load-bearing jack array; the load balancing plate converts the compensating axial force generated by the multi-point synchronous load-bearing jack array into a rectangle, and its beneficial effect is that the load generated by the multi-point synchronous load-bearing jack array is evenly distributed on the load balancing plate.

[0010] Furthermore, the power drive is connected to the high-torque speed reduction device, and the high-torque speed reduction device is connected to the jack. The power drive converts electrical energy into mechanical energy to drive the rotation of the high-torque speed reduction device; the high-torque speed reduction device can convert the high-speed rotation of the power drive into low-speed and high-torque output, which has the beneficial effect of improving the compensating axial force of the multi-point synchronous load-bearing jack array.

[0011] Furthermore, the high-precision servo feedback controller is arranged on the upper part of the high-strength corrosion-resistant protective shell, and the distributed cloud computing center is connected to the high-precision servo feedback controller via a wireless network; the high-precision servo feedback controller regulates the compensating axial force of the multi-point synchronous load-bearing jack array by receiving the signal sent by the distributed cloud computing center, and each jack in the multi-point synchronous load-bearing jack array can independently adjust its height, which has the beneficial effect of making more precise and flexible adjustments to the supporting axial force.

[0012] Furthermore, the short acoustic wave displacement sensor is arranged on the side of the multi-point synchronous load-bearing jack array, and the high-precision servo feedback controller reads the information collected by the short acoustic wave displacement sensor and feeds it back to the distributed cloud computing center through a wireless network. The distributed cloud computing center updates the control signal by analyzing the difference between the sent information and the received information. The beneficial effect is high-precision control of the axial force compensation of the multi-point synchronous load-bearing jack array.

[0013] Another aspect of the present invention provides a method for controlling a concrete servo support, comprising the following steps:

[0014] S1: Set the foundation pit excavation state equation and the retaining structure performance index, establish the foundation pit excavation state equation, that is, the dynamic mathematical model of foundation pit excavation, and determine the performance index according to the engineering requirements.

[0015] S2: Predict the future state of foundation pit excavation. Calculate the displacement and internal force of the foundation pit at different excavation depths through physical and numerical models. Predict the displacement of the retaining structure and the stress of the concrete servo support during the progress of the foundation pit.

[0016] S3: Optimize the control decision of the multi-point synchronous load-bearing jack array. Based on the current state and prediction model, solve the optimization problem and obtain the optimal solution, that is, the optimal jack axial force compensation size within a period of time.

[0017] S4: Execute the multi-point synchronous load-bearing jack array control decision, execute the optimal control input, and feed back the current output value to the state equation.

[0018] S5: Repeat steps S1-S4 until the foundation pit excavation is completed.

[0019] Furthermore, the state equation and performance indicators are set. The state equation of foundation pit excavation, that is, the dynamic mathematical model of foundation pit excavation, is established, and the performance indicators are determined according to the engineering requirements. Specifically: it is assumed that the state of the support system can be represented by vector y, that is, the state of the enclosure structure, including but not limited to the maximum displacement of the enclosure structure, the internal force of the enclosure structure, and the internal force of the concrete servo support; the control input can be represented by vector u, that is, the axial force of each jack in the multi-point synchronous load-bearing jack array. Then the system dynamic equation can be expressed as:

[0020] y[k+1]=f[y[k],u[k]],

[0021] Among them, k represents the current moment and f is the dynamic equation of the system.

[0022] Furthermore, the future state is predicted. The displacement and internal force of the foundation pit at different excavation depths are calculated through physical and numerical models, and the displacement of the retaining structure and the stress of the concrete servo support during the progress of the foundation pit are predicted. Specifically, a load control target sequence r(k) is set, which represents the load value required in the future from the current moment. The target sequence is decomposed into a set of equally spaced sampling points r1, r2, ..., r n , assuming that the time interval between sampling points is T.

[0023] Next, based on the system dynamic equations and control input constraints, a prediction model is established to represent the evolution of the system state and control input in the next N moments:

[0024] y[k+i]=f[y[k+i-1], u[k+i-1]], i=1, 2,...,N

[0025] u_min≤u[k+i-1]≤u_max, i=1, 2,…,N

[0026] Where N represents the length of the prediction time domain, i.e., the entire excavation lifecycle. u_min and u_max are the lower and upper limits of the control input, i.e., the lower and upper limits of the axial force of each jack in the multi-point synchronous load-bearing jack array.

[0027] Furthermore, the control decision is optimized. Based on the current state and the prediction model, the optimization problem is solved to obtain the optimal solution, that is, the optimal jack thrust within a period of time. Specifically, according to the prediction model and the load target sequence, the optimization method such as least squares or minimization of control error is used to solve the optimal control input sequence u1, u2, ..., u N The optimization problem can be expressed as:

[0028]

[0029] y[k+i]=f[y[k+i-1], u[k+i-1]], i=0, 1,…,N-1

[0030] Here, y[k+i] is the state of the system at time k+i, i.e., the state of the enclosure at time k+i. y_desired[k+i] is the target state at time k+i, i.e., the target state of the enclosure at time k+i. u[k+i] is the control input at time k+i, i.e., the axial force of each jack in the multi-point synchronous load-bearing jack array at time k+i. In this optimization, the current system state y[k] and the target state y_desired[k] are used as starting points. The control input u[i] is used to gradually bring the system state y[k+i] closer to the target state y_desired[k+i], ultimately reaching the optimal state over a period of time.

[0031] Furthermore, control decisions are made. The optimal control input is executed, and the current output value is fed back into the state equation. Specifically, based on the optimal control input, the optimal jack thrust is applied to the actual excavation, and the axial force of each jack in the multi-point synchronous load-bearing jack array is adjusted. At the same time, the deformation of the retaining structure and the jack thrust in the foundation pit are monitored and evaluated, and the system state is updated based on the error between the actual state and the predicted state. Afterwards, control decisions are made again based on the latest system state. In the next predicted time step, iterative optimization is continuously performed, and the model and algorithm are updated to better predict and control the behavior of the system.

[0032] The present invention solves the problems in the related art of insufficient bearing capacity of concrete servo support and insufficient flexibility and precision in adjusting the servo head axial force. Traditional concrete servo support devices usually only include a single jack. The bearing capacity of a single jack is limited, and the compensation axial force is relatively concentrated, which easily causes stress concentration and damages the concrete support. Moreover, a single jack can only adjust the compensation axial force at a single point and cannot adjust the axial force at different positions, which is not accurate enough. However, the array-type concrete servo support device provided by the present invention can use a multi-point synchronous bearing jack array, and the compensation axial force is jointly provided by multiple jacks, so that the bearing capacity and support stability are greatly improved. At the same time, the multi-point synchronous bearing jack array can adjust the height of the jacks at different positions as needed, so that the axial force adjustment is more accurate.

[0033] Furthermore, the control method of the concrete servo support provided by the present invention solves the problem that the traditional concrete servo support compensation axial force relies on on-site real-time monitoring data combined with engineering experience for adjustment. The control of traditional concrete servo steel supports usually sets an initial compensation axial force based on engineering experience, conducts on-site monitoring, and makes adjustments when the axial force changes; the use of traditional control methods fails to take into account the deformation of the retaining structure, and the control lag is too high. The control method provided by the present invention can be used to predict the future state of the foundation pit retaining structure, thereby quickly and in real time controlling the jack compensation axial force to cope with complex excavation conditions, reduce the lag of control, and greatly reduce the number of unsafe incidents and losses during construction. Through this invention, engineering personnel can carry out foundation pit engineering construction more efficiently, safely and accurately, greatly reducing the risks and dangers of such projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, each drawing described below is for some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 Schematic diagram of the array-type concrete servo support device and application scenario provided in this embodiment.

[0036] Figure 2 This is a schematic diagram of a single jack in the multi-point synchronous load-bearing jack array in the array-type concrete servo support device provided in this embodiment.

[0037] Figure 3 This is a flow chart of the control method for the concrete servo support provided in this embodiment.

[0038] The reference numerals in the figures are as follows:

[0039] 1. Array-type concrete servo support device; 2. Distributed cloud computing center; 11. High-precision servo feedback controller; 12. Multi-point synchronous load-bearing jack array; 13. High-strength corrosion-resistant protective housing; 121. Threaded transmission rod; 122. Load balancing plate; 123. Power drive; 124. High-torque speed reduction device; 125. Short acoustic wave displacement sensor. DETAILED DESCRIPTION

[0040] The following examples of the present application will clearly and completely describe the technical solution. Obviously, the described examples are only some preferred embodiments of the present application, not all embodiments. Based on the examples in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] In the description of the embodiments of the present application, it should be noted that the indicated orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the application is usually placed when in use, or is the orientation or position relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0042] like Figure 1-Figure 2 As shown, an embodiment of the present application provides an array-type concrete servo support device, which includes: 2. a distributed cloud computing center; 11. a high-precision servo feedback controller; 12. an array of multi-point synchronous load-bearing jacks; 13. a high-strength corrosion-resistant protective shell; 121. a threaded transmission rod; 122. a load balancing plate; 123. a power drive; 124. a high-torque speed reduction device; and 125. a short acoustic wave displacement sensor.

[0043] First, the foundation pit is excavated. The array-type concrete servo support device 1 is located at the end of the servo concrete support in the foundation pit, providing compensation axial force for the concrete support. The array-type concrete servo support device 1 is compensated for axial force by a multi-point synchronous load-bearing jack array 12. The appropriate multi-point synchronous load-bearing jack array 12 is selected according to needs. Common ones are 2 tons, 5 tons, 10 tons, 20 tons, etc. The tonnage and number of jacks are determined according to needs. By adopting a multi-point synchronous load-bearing jack array 12, multiple jacks are supported at multiple points at the same time, and each jack can adjust its height individually, thereby giving full play to the bearing capacity of the concrete servo support and realizing precise control of the axial force.

[0044] The size and material of the high-strength corrosion-resistant protective shell 13 are determined based on the number and arrangement of the selected multi-point synchronous load-bearing jack arrays 12, and high-strength corrosion-resistant protective materials are generally selected. The multi-point synchronous load-bearing jack arrays 12 are evenly fixed in the high-strength corrosion-resistant protective shell 13, and are generally fixed with bolts. The load balancing plate 122 is connected to the end of the threaded transmission rod 121, and the threaded transmission rod 121 is set on both sides of the multi-point synchronous load-bearing jack array 12; the load balancing plate 122 converts the compensating axial force generated by the multi-point synchronous load-bearing jack array 12 into a rectangle, so that the load generated by the multi-point synchronous load-bearing jack array 12 is evenly distributed on the load balancing plate 122. When making the load balancing plate 122, high-strength materials such as steel plates or aluminum alloys are generally selected, and processing is performed according to actual conditions, such as drilling and opening holes.

[0045] The power driver 123 is connected to the high-torque speed reduction device 124, and the high-torque speed reduction device 124 is connected to the multi-point synchronous load-bearing jack array 12. The power driver 123 converts electrical energy into mechanical energy to drive the rotation of the high-torque speed reduction device 124; the high-torque speed reduction device 124 can convert the high-speed rotation of the power driver 124 into low-speed and high-torque output, thereby improving the compensating axial force of the multi-point synchronous load-bearing jack array 12.

[0046] Before use, the pistons of the multi-point synchronous load-bearing jack array 12 are expanded at an appropriate speed via the power driver 123 and high-torque speed reduction device 124. Adjustments are then made to ensure that the load balancing plates 122 at the bottom of the frame, where each multi-point synchronous load-bearing jack array 12 contacts, are level, ensuring proper weight bearing. The load balancing plates 122 are then connected to the threaded drive rods 121 on the multi-point synchronous load-bearing jack array 12, either through threaded connections or flange connections. Finally, testing and calibration are performed to ensure the balance of the load balancing plates 122 and the load-bearing capacity of the multi-point synchronous load-bearing jack array 12.

[0047] Furthermore, a space is left on the upper part of the high-strength corrosion-resistant protective shell 13, in which the high-precision servo feedback controller 11 is arranged. The distributed cloud computing center 2 is connected to the high-precision servo feedback controller 11 via a wireless network, and LTE or 5G wireless connection can be used to accelerate and optimize the data transmission and signal control between the distributed cloud computing center 2 and the high-precision servo feedback controller 11, thereby achieving more efficient linkage control. These wireless connections can also provide higher security and stability to ensure the reliability of data transmission and the safety of equipment operation. The high-precision servo feedback controller 11 obtains the support axial force parameters that need to be adjusted by receiving the command signal sent by the distributed cloud computing center 2, and calculates and monitors this parameter in real time, updates the actual control signal within hundreds of microseconds, and regulates the compensating axial force of the multi-point synchronous load-bearing jack array 12. In order to ensure a higher-precision control effect, the high-precision servo feedback controller can also use advanced control algorithms, such as PID algorithms, to process and analyze data, thereby achieving a more flexible control effect.

[0048] Furthermore, a short acoustic wave displacement sensor 125 is installed on the side of the multi-point synchronous load-bearing jack array 12 to monitor the position changes of each jack in the multi-point synchronous load-bearing jack array 12 in real time. The short acoustic wave displacement sensor 125 can perform calculations through the reflection of sound waves, and the accuracy can reach the micron level. The high-precision servo feedback controller 11 receives the information collected by the short acoustic wave displacement sensor 125 and feeds it back to the distributed cloud computing center 2 through the wireless network. The distributed cloud computing center 2 calculates the compensation axial force control signal required by the multi-point synchronous load-bearing jack array 12 by analyzing the difference between the collected real-time information and the target information, and updates this control signal. This process requires the use of advanced control algorithms, machine learning and other technical means to ensure the accuracy and stability of control. This embodiment can use the MPC model prediction algorithm for control.

[0049] In addition, the distributed cloud computing center 2 can also calculate the axial force of each jack in the multi-point synchronous load-bearing jack array 12 according to the state of the enclosing structure, thereby achieving high-precision control of the axial force compensation of the multi-point synchronous load-bearing jack array 12.

[0050] Based on the above invention, it can be implemented according to the following steps:

[0051] Step 1: Set the state equation and performance indicators.

[0052] In the early stages of foundation pit excavation, a corresponding dynamic mathematical model needs to be established to describe the physical state of the foundation pit excavation and the relationship between various parameters. Generally, the state equation of foundation pit excavation can be modeled using elasticity theory, taking into account the elastic properties and stress distribution of the foundation pit soil. The specific process is described as follows:

[0053] The foundation pit soil is modeled and divided into multiple small volume units according to different depths and locations. Based on the principles of mechanics and elasticity theory, the stress state and strain change of each small volume unit are calculated. The equations of each unit are combined to determine the displacement and internal force of the entire foundation pit. The indicators are set according to the engineering requirements. For example, it can be required that the displacement of the retaining structure in the foundation pit be controlled within 0.2m; or it can be required that the deformation during the foundation pit excavation process does not exceed a certain threshold. After determining these factors, a mathematical model can be used to establish the state equation of the foundation pit excavation.

[0054] y[k+1]=f[y[k],u[k]]

[0055] Among them, k represents the current moment and f is the dynamic equation of the system.

[0056] After establishing the mathematical model, it is necessary to determine the model parameters, including parameters of the soil layer surrounding the foundation pit, parameters of the retaining structure, and parameters of the supporting structure. The accuracy of these parameters directly affects the accuracy and control effect of the model and needs to be determined through measured data and theoretical calculations.

[0057] Step 2: Predict future states.

[0058] First, based on the needs of operations such as excavation, an appropriate load control target sequence must be set. This sequence represents the target load values ​​required over a period of time, such as the periodic loads applied to the support structure during excavation. The target sequence is broken down into a set of equally spaced sampling points, representing the moments during the excavation process when adjustments are required.

[0059] Based on the system's dynamic equations and control input constraints, a prediction model is established to represent the evolution of the system state and control input over the next N time periods. During model construction, it is necessary to clearly define the upper and lower limits of the control input, namely, the lower and upper limits of the axial force of each jack in the multi-point synchronous load-bearing jack array 12. These constraints can be obtained through actual testing and analysis and then incorporated into the prediction model. Specifically:

[0060] y[k+i]=f[y[k+i-1], u[k+i-1]], i=1, 2,...,N

[0061] u_min≤u[k+i-1]≤u_max, i=1, 2,…,N

[0062] Where N represents the length of the prediction time domain, i.e., the entire excavation lifecycle. u_min and u_max are the lower and upper limits of the control input, i.e., the lower and upper limits of the axial force of each jack in the multi-point synchronous load-bearing jack array.

[0063] Step 3: Optimize control decisions.

[0064] Based on the current state and the prediction model, the optimization problem is solved to obtain the optimal solution, that is, the optimal jack axial force compensation within a period of time. Specifically, the Model Predictive Control (MPC) algorithm is used to solve the optimization problem, that is, based on the current system state and the prediction model, the optimization method such as least squares or minimization of control error is used to solve the optimal control input sequence u1, u2, ..., u N Specifically, considering the large depth of the foundation pit and the presence of uncertainties, a multi-objective optimization method can be used in combination with manual experience to make targeted adjustments to obtain the most appropriate jack axial force compensation sequence. The goal is to minimize the system state difference, including the displacement of the retaining structure and the jack compensation axial force. The objective function of the optimization problem is as follows:

[0065]

[0066] y[k+i]=f[y[k+i-1], u[k+i-1]], i=0, 1,...,N-1.

[0067] Among them, N is the length of the prediction time domain, y ref (k+i) is the desired system state, Q is the terminal penalty weight, y[k+i] is the state of the system at time k+i, and u[k+i] is the control input at time k+i, that is, the axial force of each jack in the multi-point synchronous load-bearing jack array at time k+i. In this optimization, the current state of the system y[k+i] is compared with the target state y ref (k+i) is used as the starting point, and the system state y[k+i] is gradually approached to the target state y by controlling the input u[i]. ref (k+i), and finally reach the optimal state within a period of time. When solving optimization problems, we need to consider how to constrain the optimal solution to avoid infeasible solutions.

[0068] Step 4: Execute control decisions.

[0069] Based on the optimal control input solved in the third step, it is converted into actual control signals, such as those controlling the lifting speed of the jack and the size of the axial force compensation. The control signal needs to be converted and adjusted accordingly according to the working principle of the actual control system. The converted control signal is applied to the control system, which will control the operation of the jack and servo support based on these signals to achieve control of the foundation pit excavation. During the control process, the control signal and actual output need to be monitored in real time to ensure the stability and reliability of the control effect. The control system will feedback the state equation based on the actual output value, thereby achieving closed-loop control of the foundation pit excavation control. In the process of executing control decisions, the control strategy needs to be adjusted according to the actual situation and feedback information. According to the actual progress of the foundation pit and the control effect, the state equation is modified, and the parameters of the optimal control input are adjusted.

[0070] Step 5: Repeat steps 1 to 4 until the foundation pit excavation is completed.

[0071] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0073] The embodiments described above are merely specific implementations of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be imagined by any person skilled in the art within the technical scope disclosed in the present application without resorting to creative effort should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims in the present application.

Claims

1. An array type concrete servo support device, characterized in that: The axial force compensation is performed by a multi-point synchronous load-bearing jack array, which can give full play to the bearing capacity of the concrete servo support and realize the precise control of the servo axial force; The array-type concrete servo support device includes a multi-point synchronous load-bearing jack array, a high-precision servo feedback controller, a distributed cloud computing center, a short acoustic wave displacement sensor, a load balancing plate, a threaded transmission rod, a power driver, a high-torque speed reduction device, and a high-strength corrosion-resistant protective shell; The array-type concrete servo support device is arranged at the end of the concrete servo support to provide compensation axial force for the concrete servo support; the multi-point synchronous load-bearing jack array is evenly arranged in the high-strength corrosion-resistant protective shell; The load balancing plate is connected to the end of the threaded transmission rod, and the threaded transmission rod is respectively arranged on both sides of the multi-point synchronous load-bearing jack array; The load balancing plate converts the compensating axial force generated by the multi-point synchronous load-bearing jack array into a rectangular shape so that the compensating axial force is evenly distributed on the load balancing plate; The power driver is connected to the high-torque speed reduction device, which is connected to the jack. The power driver converts electrical energy into mechanical energy to drive the rotation of the high-torque speed reduction device. The high-torque speed reduction device can convert the high-speed rotation of the power driver into a low-speed high-torque output, thereby increasing the compensating axial force of the multi-point synchronous load-bearing jack array. The high-precision servo feedback controller is arranged on the upper part of the high-strength corrosion-resistant protective shell, and the distributed cloud computing center is connected to the high-precision servo feedback controller via a wireless network; each jack in the multi-point synchronous load-bearing jack array can be independently adjusted, and the high-precision servo feedback controller regulates the compensation axial force of each jack in the multi-point synchronous load-bearing jack array by receiving a signal from the distributed cloud computing center; The short acoustic wave displacement sensor is arranged on the side of the multi-point synchronous load-bearing jack array. The high-precision servo feedback controller reads the information collected by the short acoustic wave displacement sensor and feeds it back to the distributed cloud computing center through a wireless network. The distributed cloud computing center updates the control signal by analyzing the difference between the sent information and the received information.

2. The array type concrete servo support device according to claim 1, characterized in that: The number of jacks in the multi-point synchronous load-bearing jack array is no less than 4; and all the jacks in the multi-point synchronous load-bearing jack array are electric jacks.

3. The array type concrete servo support device according to claim 1, characterized in that: The number of jacks in the multi-point synchronous load-bearing jack array is 2n or 3n, where n is a positive integer greater than 1.

4. The array type concrete servo support device according to claim 1, characterized in that: The load balancing plate is made of aluminum alloy or steel plate; the high-strength corrosion-resistant protective shell is made of stainless steel, polymer or titanium alloy material.

5. A method for controlling the axial force of the array-type concrete servo support device according to any one of claims 1 to 4, characterized in that: The steps include: Step 1: Set the foundation pit excavation state equation and the retaining structure performance index, establish the foundation pit excavation state equation, that is, the dynamic mathematical model of foundation pit excavation, and determine the performance index according to the project requirements; Step 2: Predict the future state of the foundation pit excavation. Use physical and numerical models to calculate the displacement and internal forces of the foundation pit at different excavation depths. Predict the displacement of the retaining structure and the stress of the concrete servo support during the foundation pit excavation process. Step 3: Optimize the control decision of the multi-point synchronous load-bearing jack array. Based on the current state and the prediction model, solve the optimization problem and obtain the optimal solution, that is, the optimal multi-point synchronous load-bearing jack array compensation axial force within a period of time; Step 4: Execute control decision, execute the optimal multi-point synchronous load-bearing jack array to compensate the axial force input, and feed the current output value back to the state equation; Step 5: Repeat steps 1 to 4 until the foundation pit excavation is completed.

6. The axial force control method of the array concrete servo support according to claim 5, characterized in that: The step 1 comprises: The state of the support system is represented by vector y, which is the state of the enclosure structure, including the maximum displacement of the enclosure structure, the internal force of the enclosure structure, and the internal force of the concrete servo support; The control input is represented by vector u, which is the axial force of each jack in the multi-point synchronous load-bearing jack array; The system state equation is expressed as: y[k+1]=f[y[k],u[k]] Among them, k represents the current moment, f is the state equation of the system; Determine the deformation, stress, and displacement indicators of the soil, and the stiffness, deformation, and bearing capacity indicators of the support structure.

7. The axial force control method of the array concrete servo support according to claim 5, characterized in that: The step 2 includes: predicting the displacement of the retaining structure and the stress of the concrete servo support during the foundation pit progress; Preferably, a load control target sequence r(k) is set, which represents the load value required in the future starting from the current moment; the target sequence is decomposed into a set of equally spaced sampling points r1, r2, ..., r n , assuming that the time interval between sampling points is T; next, based on the system dynamic equations and control input constraints, a prediction model is established to represent the evolution of the system state and control input in the next N moments: y[k+i]=f[y[k+i-1], u[k+i-1]], i=1, 2,...,N u_min≤u[k+i-1]≤u_max, i=1, 2,…,N Where N is the length of the prediction time domain, that is, the entire life cycle of the foundation pit excavation; u_min and u_max are the lower and upper limits of the control input, that is, the lower and upper limits of the compensatory axial force of each jack in the multi-point synchronous load-bearing jack array.

8. The axial force control method of the array concrete servo support according to claim 5, characterized in that: The step 3 includes: solving the optimization problem based on the current state and the prediction model to obtain the optimal solution, that is, the optimal jack thrust within a period of time; Preferably: according to the prediction model and the load target sequence, the optimization method such as least squares or minimization of control error is used to solve the optimal control input sequence u1, u2, ..., u N ; The optimization problem is expressed as: y[k+i]=f[y[k+i-1], u[k+i-1]], i=0, 1,…,N-1 Among them, y[k+i] represents the state of the system at time k+i, that is, the state of the enclosure structure at time k+i; y_desired[k+i] is the target state at time k+i, that is, the target enclosure structure state at time k+i; u[k+i] is the control input at time k+i, that is, the compensating axial force of each jack in the multi-point synchronous load-bearing jack array at time k+i.

9. The axial force control method of the array concrete servo support according to claim 5, characterized in that: The step 4 includes: executing the optimal control input and feeding back the current output value to the state equation; The preferred method is as follows: based on the optimal control input, the optimal jack thrust is applied to the actual excavation, and the axial force of each jack in the multi-point synchronous load-bearing jack array is adjusted; the deformation of the retaining structure and the jack thrust in the foundation pit are monitored and evaluated, and the system state is updated based on the error between the actual state and the predicted state; control decisions are made again based on the latest system state; in the next predicted time step, the model and algorithm are continuously iterated and optimized to update.

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