Multi-point synchronous jacking force distribution and posture monitoring system for ultra-long-distance pipe jacking construction and control method

Abstract

The invention belongs to the technical field of underground pipeline construction, and particularly relates to a multi-point synchronous jacking force distribution and posture monitoring system for ultra-long-distance pipe jacking construction and a control method. Comprising a sensor module, a data acquisition module, a control module and a hydraulic jacking device, the control module carries out numerical differentiation on displacement signals to obtain the real-time propelling speed of each jacking point, and the real-time propelling speed is compared with a preset target propelling speed to obtain speed deviation; the axial friction resistance of the corresponding pipe section is calculated according to the jacking force signal and the displacement signal; comparing the real-time attitude angle signal with a designed target attitude to obtain an attitude deviation; inputting the speed deviation, the axial friction resistance of the corresponding pipe section and the attitude deviation into a coupling control algorithm, and outputting jacking force increment or speed correction. According to the invention, the propulsion and postures of the jacking points of the main jacking station and the plurality of relay jacking stations can be kept synchronous and coordinated.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground pipeline construction, and in particular relates to a multi-point synchronous jacking force distribution and posture monitoring system and a control method for ultra-long distance jacking construction. Background Art

[0002] Pipe jacking construction technology is widely used in underground pipeline laying, especially when crossing obstacles such as roads and rivers, to avoid disturbances caused by large-scale excavation. During ultra-long-distance pipe jacking construction, as the jacking distance increases, the frictional resistance between the pipeline and the surrounding soil layer continues to accumulate, resulting in a significant increase in jacking resistance. To overcome the huge frictional resistance in ultra-long-distance construction, it is usually necessary to deploy relay jacking stations (relay plus jacking stations) along the pipeline. Relay cylinders are used to provide additional jacking force to reduce the impact of frictional resistance in sections and ensure that the pipe jacking can be smoothly advanced.

[0003] However, the current control of the jacking force distribution between the main jacking station and each relay jacking station relies primarily on manual adjustments based on experience by construction personnel. Lacking automated control based on real-time working condition feedback, manual adjustments often lag behind when ground conditions or frictional resistance change, making it difficult to respond promptly and accurately to construction conditions, which can easily lead to irrational jacking force distribution.

[0004] Furthermore, the control of pipeline posture (including direction and slope) during pipe jacking construction also relies primarily on manual observation and correction. Total stations, levels, and other instruments are typically used to measure the positional deviation of the pipe jacking machine head or pipe section. Construction personnel then determine the deviation and adjust the hydraulic cylinder to correct it. This manual monitoring and adjustment method suffers from limited measurement frequency and delayed response. The accuracy of correction is significantly affected by human factors, making it difficult to correct even subtle posture deviations in a timely manner. Consequently, posture control errors are large and efficiency is low.

[0005] When multiple jacking points work together during long-distance pipe jacking, unsynchronized advancement speeds or forces can lead to further adverse consequences. This unsynchronized approach can easily lead to uneven force distribution between pipe sections, potentially causing some sections to experience excessive thrust while others experience insufficient force. This uneven force distribution can cause the pipe axis to deflect, generating additional stress and wear at the joints. In severe cases, it can lead to pipe jamming or damage, compromising construction safety.

[0006] In summary, current ultra-long-distance pipe jacking construction faces prominent challenges such as friction accumulation, delayed jacking force distribution, inefficient posture monitoring and correction, and asynchronous multi-point coordination. Therefore, an intelligent pipe jacking system is urgently needed that can acquire pipeline posture information in real time, automatically distribute jacking force to each jacking point, and implement closed-loop control. Such a system would facilitate multi-point synchronous jacking and automatic posture correction in ultra-long-distance pipe jacking construction, thereby improving construction accuracy and efficiency while ensuring structural safety. Summary of the Invention

[0007] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and to provide a multi-point synchronous jacking force distribution and posture monitoring system and control method for ultra-long distance pipe jacking construction.

[0008] The technical solution adopted by the present invention is: a multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction, including a sensor module, a data acquisition module, a control module and a hydraulic jacking device.

[0009] The sensor module is installed on each hydraulic jacking device and includes a pressure-displacement integrated sensor for obtaining the jacking force signal and displacement signal of each jacking point; and an attitude sensor for obtaining the attitude angle signal of the pipe segment;

[0010] a data acquisition module, communicatively connected to the sensor module, for collecting and digitizing the top force signal, displacement signal and attitude angle signal in real time;

[0011] The control module is connected to the data acquisition module and the hydraulic jacking device, performs numerical differentiation on the displacement signal to obtain the real-time propulsion speed of each jacking point, and compares it with the preset target propulsion speed to obtain the speed deviation; calculates the axial friction of the corresponding pipe section based on the jacking force signal and the displacement signal; compares the real-time attitude angle signal with the designed target attitude to obtain the attitude deviation; inputs the speed deviation, the axial friction of the corresponding pipe section, and the attitude deviation into the coupling control algorithm, and outputs the jacking force increment or speed correction;

[0012] The hydraulic jacking device is installed at the jacking points of the main jacking station and several relay jacking stations of the pipe jacking machine. After receiving the jacking force increment or speed correction amount, it adjusts the output jacking force or propulsion speed of the hydraulic jacking device respectively to achieve multi-point synchronous jacking and real-time correction of the pipe segment posture.

[0013] By establishing a complete closed-loop link between sensing, data acquisition, control calculations, and hydraulic execution, this system enables multi-point synchronous advancement and real-time posture correction during ultra-long-distance pipe jacking. Automatically distributing jacking force and continuously correcting deviation significantly improves axis accuracy, reduces reliance on manual operation, effectively reduces peak forces on the cutterhead and pipe segments, and extends the service life of these tools, thereby comprehensively enhancing construction efficiency and safety.

[0014] Preferably, the control module obtains the speed deviation of each jacking point according to the following steps:

[0015] The displacement signal of each jacking point is synchronously collected with a fixed sampling period Δt;

[0016] The real-time advancement speed v of the i-th jacking point at the k-th sampling time is calculated using the first-order backward difference according to the following formula: i(k):

[0017]

[0018] The real-time propulsion speed is averaged in a sliding window of length N to obtain a smooth speed

[0019]

[0020] Smooth speed Advance speed with preset target Compare and get the speed deviation Δv i (k):

[0021]

[0022] Where, Δt: displacement signal sampling period; xi(k): displacement of the i-th jacking point at the current sampling time k; xi(k-1): displacement of the i-th jacking point at the previous sampling time; v i (k): real-time advancement speed of the ith jacking point calculated based on the difference; N: sliding window length, used to smooth the speed; Smoothing speed after sliding window averaging; Target propulsion speed set for the construction condition; Δvi(k): speed deviation, that is, the difference between the target propulsion speed and the smoothing speed.

[0023] Using a fixed sampling period, first-order difference, and sliding average methods, we can suppress measurement noise while ensuring real-time performance, thereby achieving a smooth and accurate propulsion speed. Speed ​​deviations are quantified as continuously controllable variables, providing precise input for subsequent coordination of multi-station jacks, making synchronous propulsion control more stable and reliable.

[0024] Preferably, the axial friction force of the corresponding pipe section is calculated based on the push force signal and the displacement signal, and the calculation steps include:

[0025] Continuously collect and accumulate the jacking force signals of each jacking point to obtain the total jacking thrust F total (k), and at the same time, the displacement signal is accumulated to obtain the cumulative jacking displacement S of the jacking pipe tot,k , when the displacement increment ΔS i =S tot,k -S tot,k-1 =Li, which is equal to the preset length L of the i-th pipe section i When the total thrust is recorded, that is, the total thrust F of all jacking points when the pipe section i is pushed forward total (i);

[0026] Read the total jacking force F recorded when the previous pipe section is jacked total (i-1);

[0027] Calculate the foundation friction resistance R of the i-th pipe segment i :R i =F total (i)-F total (i-1);

[0028] Set the lubrication correction factor α according to the construction conditions lub , formation correction coefficient α soil and slope correction coefficient α slope Corrected axial friction

[0029]

[0030] Among them, F total (k) is the total thrust at the kth sampling moment; S tot,k is the cumulative displacement at the kth sampling moment; S tot,k-1 is the cumulative displacement value at the previous sampling time (k–1) immediately before the current sampling time k; L i is the design length of the i-th pipe section; F total (i) F total (i-1) are the total jacking forces at all jacking points when advancing to the i-th and i-1-th pipe sections respectively; R i is the foundation friction resistance of the i-th pipe section obtained by difference; α lub is the lubrication correction coefficient, which is less than 1 when lubricated sufficiently and approaches 1 when lubricated insufficiently; α soil is the stratum type correction coefficient, which is set according to the differences in soil properties such as sand, clay, and pebble layer; α slope is the slope correction coefficient, which is greater than 1 in uphill sections, less than 1 in downhill sections, and equal to 1 in horizontal sections; is the axial friction resistance of the i-th pipe section after comprehensive correction.

[0031] By combining the force differential method with displacement triggering conditions, axial friction can be calculated segment by segment without adding additional sensors. Combined with lubrication, formation, and slope correction factors, the friction estimate closely matches actual operating conditions. Real-time friction monitoring provides early warning of abnormal sections, ensuring thrust output remains within a safe range and reducing the risk of pipe sticking.

[0032] Preferably, the real-time attitude angle signal is compared with the design target attitude to obtain the attitude deviation including:

[0033] According to the current mileage position of the pipe jacking machine, the design target pitch angle, design target yaw angle and design target roll angle corresponding to the position are read from the pre-stored attitude design curve;

[0034] Obtain the real-time pitch angle, real-time yaw angle and real-time roll angle of the pipe jacking machine at the same position from the attitude sensor;

[0035] The pitch angle deviation is obtained by subtracting the design target pitch angle from the real-time pitch angle, the yaw angle deviation is obtained by subtracting the design target yaw angle from the real-time yaw angle, and the roll angle deviation is obtained by subtracting the design target roll angle from the real-time roll angle.

[0036] The system uses mileage coordinates to retrieve the target attitude angle from the attitude design curve and compares it with the real-time attitude angle to determine the deviations in pitch, yaw, and roll. This three-axis error separation allows for targeted force distribution and attitude correction, maintaining the designed slope and direction even during curves, climbs, and final stages, reducing errors and delays caused by manual measurement and trial adjustments.

[0037] More preferably, the process of inputting the speed deviation, the axial friction of the corresponding pipe section and the posture deviation into the coupling control algorithm and outputting the jacking force increment or speed correction is as follows:

[0038] Taking speed deviation as the main control variable, a speed feedback channel is constructed and the PID controller or fuzzy PID compound controller outputs the preliminary force increment or preliminary speed correction value;

[0039] The pitch angle deviation, yaw angle deviation and roll angle deviation are input into the fuzzy controller, and the gain coefficient for attitude correction is output;

[0040] The corrected axial friction force is used as the thrust modulation factor to dynamically adjust the amplitude of the thrust increment;

[0041] An objective function is constructed based on the weighted sum of the square of velocity deviation, the square of attitude correction gain coefficient, and the square of axial friction resistance, and the incremental force and / or velocity correction are jointly solved.

[0042] The above control process is suitable for real-time operation in a PLC or embedded control system, and is used to realize multi-point synchronous propulsion and real-time deviation correction control of the pipe jacking machine posture.

[0043] The coupled control algorithm integrates velocity deviation, friction, and attitude deviation into a unified optimization framework, achieving the dual goals of synchronous propulsion and attitude correction. Fuzzy-PID compound control combines fast dynamic response with steady-state accuracy, suppressing oscillations and avoiding overshoot. It can also be directly deployed on standard PLCs or embedded controllers, offering low hardware and software implementation costs and strong portability.

[0044] More preferably, the objective function J i The expression is as follows:

[0045]

[0046] Where Δvi is the speed deviation of the i-th jacking point; k atti is the attitude correction gain coefficient; is the corrected axial friction coefficient of the i-th pipe segment; w1 is the speed deviation weight coefficient; w2 is the attitude deviation weight coefficient; w3 is the axial friction coefficient.

[0047] By using a quadratic objective function to weight the sum of velocity, attitude, and friction, the controller can flexibly balance propulsion synchronization, attitude accuracy, and thrust stability based on the weights. The matrix-formed objective function facilitates the application of optimal control theory for offline parameter tuning or online adaptive adjustment, making the control strategy highly scalable and theoretically verifiable.

[0048] Preferably, the posture correction gain coefficient k atti The calculation of includes the following steps:

[0049] Divide the pitch angle deviation, yaw angle deviation and roll angle deviation at the i-th position by the maximum allowable deviation threshold of the corresponding direction to obtain the normalized deviation value and

[0050] Set weight coefficients w for pitch, yaw and roll angles respectively pitch 、w yaw and w roll , and calculate the total posture deviation according to the following weighted formula:

[0051]

[0052] The total posture deviation ε att,i Input the segmented gain mapping function to obtain the attitude correction gain coefficient k atti :

[0053] When ε att,i When k is less than the first threshold, atti =0;

[0054] When ε att,i When k is between the first threshold and the second threshold, atti With ε att,i Linear growth;

[0055] When ε att,i When k is greater than the second threshold, atti Equal to 1.

[0056] The attitude correction gain coefficient is first normalized and weighted to obtain a comprehensive deviation, which is then converted into a gain value using a piecewise mapping function. This method requires minimal computation and offers clear rules, making it suitable for real-time operation. The gain automatically decreases when the deviation is minimal, avoiding unnecessary adjustments. When the deviation is excessive, it quickly increases, ensuring rapid attitude correction without overshoot.

[0057] More preferably, the hydraulic jacking device preferably adopts a hollow high-pressure hydraulic jack, which has a rated thrust of not less than 1000kN, a rated working pressure of 25MPa, and a stroke range of 300mm to 1000mm.

[0058] Hollow, high-pressure hydraulic jacks with a rated thrust of over 1,000 kN and a stroke of 300 to 1,000 mm fully meet the thrust requirements of long-distance, high-friction pipe jacking. The hollow structure facilitates the installation of sensors and wiring through pipes, and the high-pressure, low-flow design reduces hydraulic system energy consumption, improves overall energy efficiency, and reduces piping space.

[0059] Preferably, the hydraulic jacking device is specifically a hydraulic jack system provided at the main jacking station and several relay jacking stations of the pipe jacking machine, and the hydraulic jack system includes:

[0060] Hydraulic cylinder and piston assembly, used to convert hydraulic energy into jacking force;

[0061] Proportional control hydraulic valve group is used to adjust the hydraulic flow and pressure to achieve controllable jacking force and propulsion speed;

[0062] The displacement sensor is integrated on the cylinder body to detect the propulsion displacement in real time;

[0063] The pressure sensor is installed in the oil inlet pipe or the cylinder inlet cavity to detect the output push force in real time;

[0064] Quick connector and oil circuit connection assembly, used to connect with the central hydraulic station or control module;

[0065] The hydraulic jacking device can be configured individually or in groups to act on multiple jacking points respectively, thereby realizing a multi-point synchronous jacking function.

[0066] The hydraulic jack system integrates pressure sensors, displacement sensors, and a proportional valve block to achieve independent closed-loop control of each jacking point, significantly improving jacking force adjustment accuracy. Quick connectors and a modular oil circuit design simplify on-site assembly and maintenance. The number of jacking points can be flexibly increased or decreased based on construction needs, ensuring the stable operation of the multi-point synchronization function under different working conditions.

[0067] The present invention also provides a control method for multi-point synchronous jacking force distribution and posture monitoring in ultra-long distance jacking construction, including: obtaining the jacking force signal, displacement signal and posture angle signal of each jacking point; numerically differentiating the displacement signal to obtain the real-time propulsion speed of each jacking point, and comparing it with the preset target propulsion speed to obtain the speed deviation; calculating the axial friction resistance of the corresponding pipe section according to the jacking force signal and the displacement signal; comparing the real-time posture angle signal with the design target posture to obtain the posture deviation; inputting the speed deviation, the axial friction resistance of the corresponding pipe section and the posture deviation into a coupling control algorithm, and outputting a jacking force increment or a speed correction; according to the jacking force increment or the speed correction, respectively adjusting the output jacking force or propulsion speed of the hydraulic jacking device distributed at the jacking points of the main jacking station and several relay jacking stations, so as to realize multi-point synchronous jacking and real-time correction of the pipe section posture.

[0068] Compared with existing technologies, the present invention offers the following advantages: It addresses the current problems in ultra-long-distance pipe jacking construction, where the main and intermediate jacking points rely on manual experience to adjust the jacking force, and posture control relies on manual observation or single-point instrumentation, resulting in delayed response, poor adjustment accuracy, difficulty in synchronous control, low correction efficiency when jacking deviation occurs, and inability to achieve multi-point coordinated action. The present invention proposes a system that integrates a sensor module, a data acquisition module, a control module, and a hydraulic jacking device. This system integrates multiple sensors and an automatic control unit, enabling real-time monitoring and multi-target control of propulsion speed, frictional resistance, and posture.

[0069] By using sensors to sense the jacking force, speed, frictional resistance and posture status in real time, and the control module to autonomously adjust the jacking force output, the system of the present invention eliminates the reliance on manual experience to adjust the jacking force, so that the advancement and posture of the main jack and each relay jacking point can be synchronized and coordinated. Under the action of automatic control, the system overcomes the problems of response lag and low adjustment accuracy caused by manual observation and single-point instrument control. When the jacking trajectory deviates, the system can quickly identify and link multiple jacking points for efficient correction, solving the defect that multi-point coordinated actions are difficult to achieve in the existing technology. In addition, by real-time monitoring and adaptive control of the frictional resistance during the jacking process, the system can automatically adjust the propulsion parameters according to the changes in frictional resistance, keep the jacking process smooth and smooth, and further improve the control accuracy and response speed. This automated operation mode reduces manual intervention, not only improves construction efficiency, but also reduces the wear of equipment and pipelines due to smoother and more accurate jacking control, thereby extending the service life of the jacking equipment and pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0071] Figure 1 This is a functional module diagram of a first embodiment of a multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to the present invention;

[0072] Figure 2 This is a flow chart of Example 2 of a control method for multi-point synchronous jacking force distribution and posture monitoring in ultra-long distance pipe jacking construction according to the present invention. DETAILED DESCRIPTION

[0073] The following is a further description of specific embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is intended to facilitate understanding of the present invention and does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0074] Example 1

[0075] like Figure 1 As shown, the present invention provides a multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction, including a sensor module, a data acquisition module, a control module and a hydraulic jacking device.

[0076] The sensor module is installed on each hydraulic jacking device and includes a pressure-displacement integrated sensor for obtaining the jacking force signal and displacement signal of each jacking point; and an attitude sensor for obtaining the attitude angle signal of the pipe segment;

[0077] a data acquisition module, communicatively connected to the sensor module, for collecting and digitizing the top force signal, displacement signal and attitude angle signal in real time;

[0078] The control module is connected to the data acquisition module and the hydraulic jacking device, performs numerical differentiation on the displacement signal to obtain the real-time propulsion speed of each jacking point, and compares it with the preset target propulsion speed to obtain the speed deviation; calculates the axial friction of the corresponding pipe section based on the jacking force signal and the displacement signal; compares the real-time attitude angle signal with the designed target attitude to obtain the attitude deviation; inputs the speed deviation, the axial friction of the corresponding pipe section, and the attitude deviation into the coupling control algorithm, and outputs the jacking force increment or speed correction;

[0079] The hydraulic jacking device is installed at the jacking points of the main jacking station and several relay jacking stations of the pipe jacking machine. After receiving the jacking force increment or speed correction amount, it adjusts the output jacking force or propulsion speed of the hydraulic jacking device respectively to achieve multi-point synchronous jacking and real-time correction of the pipe segment posture.

[0080] The control module obtains the speed deviation of each jacking point according to the following steps:

[0081] The displacement signal of each jacking point is synchronously collected with a fixed sampling period Δt (0.02s-0.10s);

[0082] The real-time advancement speed v of the i-th jacking point at the k-th sampling time is calculated using the first-order backward difference according to the following formula: i (k):

[0083]

[0084] The real-time advancing speed is averaged in a sliding window of length N (3≤N≤10) to obtain a smoothed speed

[0085]

[0086] Smooth speed Advance speed with preset target Compare and get the speed deviation Δv i (k):

[0087]

[0088] Where, Δt: displacement signal sampling period; x i (k): displacement of the i-th jacking point at the current sampling time k; x i (k-1): displacement of the i-th jacking point at the previous sampling moment; v i (k): real-time advancement speed of the ith jacking point calculated based on the difference; N: sliding window length, used to smooth the speed; Smoothing speed after sliding window averaging; Target advancement speed set for construction conditions; Δv i (k): Speed ​​deviation, that is, the difference between the target propulsion speed and the smoothing speed.

[0089] The axial friction of the corresponding pipe section is calculated based on the top force signal and the displacement signal. The calculation steps include:

[0090] Continuously collect and accumulate the jacking force signals of each jacking point to obtain the total jacking thrust F total (k), and at the same time, the displacement signal is accumulated to obtain the cumulative jacking displacement S of the jacking pipe tot,k , when the displacement increment ΔSi =S tot,k -S tot,k-1 =L i When , it is equal to the preset length L of the i-th pipe section i When the total thrust is recorded, that is, the total thrust F of all jacking points when the pipe section i is pushed forward total (i);

[0091] Read the total jacking force F recorded when the previous pipe section is jacked total (i-1);

[0092] Calculate the foundation friction resistance R of the i-th pipe segment i :R i =F total (i)-F total (i-1);

[0093] Set the lubrication correction factor α according to the construction conditions lub , formation correction coefficient α soil and slope correction coefficient α slope Corrected axial friction

[0094]

[0095] Among them, F total (k) is the total thrust at the kth sampling moment; S tot,k is the cumulative displacement at the kth sampling moment; S tot,k-1 is the cumulative displacement value at the previous sampling time (k–1) immediately before the current sampling time k; L i is the design length of the i-th pipe section; F total (i) F total (i-1) are the total jacking forces at all jacking points when advancing to the i-th and i-1-th pipe sections respectively; R i is the foundation friction resistance of the i-th pipe section obtained by difference; α lub is the lubrication correction coefficient, which is less than 1 when lubricated sufficiently and approaches 1 when lubricated insufficiently; α soil is the stratum type correction coefficient, which is set according to the differences in soil properties such as sand, clay, and pebble layer; α slope is the slope correction coefficient, which is greater than 1 in uphill sections, less than 1 in downhill sections, and equal to 1 in horizontal sections; is the axial friction resistance of the i-th pipe section after comprehensive correction.

[0096] Comparing the real-time attitude angle signal with the designed target attitude, the attitude deviation is as follows:

[0097] According to the current mileage position of the pipe jacking machine, the design target pitch angle, design target yaw angle and design target roll angle corresponding to the position are read from the pre-stored attitude design curve;

[0098] Obtain the real-time pitch angle, real-time yaw angle and real-time roll angle of the pipe jacking machine at the same position from the attitude sensor;

[0099] The pitch angle deviation is obtained by subtracting the design target pitch angle from the real-time pitch angle, the yaw angle deviation is obtained by subtracting the design target yaw angle from the real-time yaw angle, and the roll angle deviation is obtained by subtracting the design target roll angle from the real-time roll angle.

[0100] The process of inputting the speed deviation, the axial friction of the corresponding pipe section and the posture deviation into the coupling control algorithm and outputting the jacking force increment or speed correction is as follows:

[0101] Taking speed deviation as the main control variable, a speed feedback channel is constructed and the PID controller or fuzzy PID compound controller outputs the preliminary force increment or preliminary speed correction value;

[0102] The pitch angle deviation, yaw angle deviation and roll angle deviation are input into the fuzzy controller, and the gain coefficient for attitude correction is output;

[0103] The corrected axial friction force is used as the thrust modulation factor to dynamically adjust the amplitude of the thrust increment;

[0104] An objective function is constructed based on the weighted sum of the square of velocity deviation, the square of attitude correction gain coefficient, and the square of axial friction resistance, and the incremental force and / or velocity correction are jointly solved.

[0105] The above control process is suitable for real-time operation in a PLC or embedded control system, and is used to realize multi-point synchronous propulsion and real-time deviation correction control of the pipe jacking machine posture.

[0106] Objective function J i The expression is as follows:

[0107]

[0108] Where Δv i is the speed deviation of the i-th jacking point; k atti is the attitude correction gain coefficient; is the corrected axial friction coefficient of the i-th pipe segment; w1 is the speed deviation weight coefficient; w2 is the attitude deviation weight coefficient; w3 is the axial friction coefficient.

[0109] The attitude correction gain coefficient k atti The calculation of includes the following steps:

[0110] Divide the pitch angle deviation, yaw angle deviation and roll angle deviation at the i-th position by the maximum allowable deviation threshold of the corresponding direction to obtain the normalized deviation value and

[0111] Set weight coefficients w for pitch, yaw and roll angles respectively pitch 、w yaw and w roll , and calculate the total posture deviation according to the following weighted formula:

[0112]

[0113] The total posture deviation ε att,i Input the segmented gain mapping function to obtain the attitude correction gain coefficient k atti :

[0114] When ε att,i When k is less than the first threshold, atti =0;

[0115] When ε att,i When k is between the first threshold and the second threshold, atti With ε att,i Linear growth;

[0116] When ε att,i When k is greater than the second threshold, atti Equal to 1.

[0117] The hydraulic jacking device preferably adopts a hollow high-pressure hydraulic jack, which has a rated thrust of not less than 1000kN, a rated working pressure of 25MPa, and a stroke range of 300mm to 1000mm.

[0118] The hydraulic jacking device is specifically a hydraulic jack system provided at the main jacking station and several relay jacking stations of the pipe jacking machine. The hydraulic jack system includes:

[0119] Hydraulic cylinder and piston assembly, used to convert hydraulic energy into jacking force;

[0120] Proportional control hydraulic valve group is used to adjust the hydraulic flow and pressure to achieve controllable jacking force and propulsion speed;

[0121] The displacement sensor is integrated on the cylinder body to detect the propulsion displacement in real time;

[0122] The pressure sensor is installed in the oil inlet pipe or the cylinder inlet cavity to detect the output push force in real time;

[0123] Quick connector and oil circuit connection assembly, used to connect with the central hydraulic station or control module;

[0124] The hydraulic jacking device can be configured individually or in groups to act on multiple jacking points respectively, thereby realizing a multi-point synchronous jacking function.

[0125] This embodiment is applied in a drainage tunnel project. The project uses reinforced concrete pipe sections with an inner diameter of 3000mm, and the single-line jacking distance is about 600m. The middle part of the line needs to pass under rivers and urban roads. In order to overcome the accumulated frictional resistance during long-distance jacking, in addition to the main jacking station in the starting well, a relay jacking station is set up at 200m and 400m along the line. The construction stratum is soft clay with fine sand and a high groundwater level, which can easily lead to rapid rise in friction. The traditional reliance on manual pressure regulation and manual deviation correction cannot meet the dual requirements of axis accuracy and thrust safety in this section. Therefore, the multi-point synchronous jacking force distribution and posture monitoring system of the present invention is used to implement construction.

[0126] System hardware composition

[0127] 1) Hydraulic jacking device: The main jacking station and two relay jacking stations are equipped with hollow high-pressure hydraulic jacks (rated thrust 1000kN, working pressure 25MPa, stroke 600mm). The oil circuit of each jack is connected in series with a proportional control hydraulic valve, which enables programmable adjustment of thrust and speed.

[0128] 2) Sensor Module: Integrated pressure-displacement sensor: A pressure transmitter with an accuracy of 0.5% FS is installed in the oil line of each jack; a magnetostrictive displacement sensor with a resolution of 0.01mm is embedded in the cylinder piston rod. Attitude sensor: A three-axis fiber optic gyro-accelerometer inertial navigation unit is installed in the shield (pipe jacking) head, with a dynamic accuracy of ±0.1°.

[0129] 3) Data acquisition module: Siemens ET200SP-AI and high-speed counting module are used, and the sampling period Δt is set to 0.05s to synchronously collect and digitize the pressure, displacement, and posture signals.

[0130] 4) Control Module: A Siemens S7-1500 PLC paired with an industrial PC is used. The PLC is responsible for high-speed closed-loop logic, while the industrial PC runs the coupled control algorithm and provides the human-machine interface.

[0131] 5) Lubrication and drag reduction system: A bentonite grouting valve is arranged every 15m and automatically opens under the command of the control module to form a mud outer film and reduce friction.

[0132] After the implementation of the above-mentioned multi-point synchronous jacking force distribution and posture monitoring system for ultra-long-distance pipe jacking construction, during the entire 600m jacking process, the peak value of the main jacking force was reduced from 1.30MN under traditional manual adjustment to 1.10MN, and the fluctuation amplitude converged to ±0.04MN; the three-axis posture deviation of the pipe jacking machine was always controlled within the range of ±5mm corresponding angle, and the maximum deviation was reduced by about 70% compared with the manual adjustment stage; the recovery time of the typical posture disturbance was shortened from an average of 45s to 12s. The entire pipeline was penetrated at one time, and the coordinate deviation of the terminal point was less than 30mm, meeting the design requirements. This embodiment verifies that the system of the present invention can achieve the comprehensive advantages of stable jacking force, precise posture and fast response in long-distance, large-diameter pipe jacking.

[0133] Example 2

[0134] like Figure 2 As shown, the present invention provides a control method for multi-point synchronous jacking force distribution and posture monitoring in ultra-long distance jacking construction, including: obtaining the jacking force signal, displacement signal and posture angle signal of each jacking point; numerically differentiating the displacement signal to obtain the real-time propulsion speed of each jacking point, and comparing it with the preset target propulsion speed to obtain the speed deviation; calculating the axial friction resistance of the corresponding pipe segment according to the jacking force signal and the displacement signal; comparing the real-time posture angle signal with the design target posture to obtain the posture deviation; inputting the speed deviation, the axial friction resistance of the corresponding pipe segment and the posture deviation into a coupling control algorithm, and outputting a jacking force increment or a speed correction; according to the jacking force increment or the speed correction, respectively adjusting the output jacking force or propulsion speed of the hydraulic jacking device distributed at the jacking points of the main jacking station and several relay jacking stations, so as to realize multi-point synchronous jacking and real-time correction of the pipe segment posture.

[0135] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be covered by the scope of protection of the present invention. Matters not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction, characterized by: It includes sensor module, data acquisition module, control module and hydraulic jacking device. The sensor module is installed on each hydraulic jacking device and includes a pressure-displacement integrated sensor for obtaining the jacking force signal and displacement signal of each jacking point; Attitude sensor, used to obtain attitude angle signal of pipe segment; a data acquisition module, communicatively connected to the sensor module, for collecting and digitizing the top force signal, displacement signal and attitude angle signal in real time; The control module is connected to the data acquisition module and the hydraulic jacking device, performs numerical differentiation on the displacement signal to obtain the real-time propulsion speed of each jacking point, and compares it with the preset target propulsion speed to obtain the speed deviation; calculates the axial friction of the corresponding pipe section based on the jacking force signal and the displacement signal; compares the real-time attitude angle signal with the designed target attitude to obtain the attitude deviation; inputs the speed deviation, the axial friction of the corresponding pipe section, and the attitude deviation into the coupling control algorithm, and outputs the jacking force increment or speed correction; The hydraulic jacking device is installed at the jacking points of the main jacking station and several relay jacking stations of the pipe jacking machine. After receiving the jacking force increment or speed correction amount, it adjusts the output jacking force or propulsion speed of the hydraulic jacking device respectively to achieve multi-point synchronous jacking and real-time correction of the pipe segment posture.

2. The multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to claim 1 is characterized by: The control module obtains the speed deviation of each jacking point according to the following steps: The displacement signal of each jacking point is synchronously collected with a fixed sampling period Δt; The real-time advancement speed v of the i-th jacking point at the k-th sampling time is calculated using the first-order backward difference according to the following formula: i (k): The real-time propulsion speed is averaged in a sliding window of length N to obtain a smooth speed Smooth speed Advance speed with preset target Compare and get the speed deviation Δv i (k): Where, Δt: displacement signal sampling period; x i (k): displacement of the i-th jacking point at the current sampling time k; x i (k-1): displacement of the i-th jacking point at the previous sampling moment; v i (k): real-time advancement speed of the ith jacking point calculated based on the difference; N: sliding window length, used to smooth the speed; Smoothing speed after sliding window averaging; Target advancement speed set for construction conditions; Δv i (k): Speed ​​deviation, that is, the difference between the target propulsion speed and the smoothing speed.

3. The multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to claim 1 is characterized by: The axial friction of the corresponding pipe section is calculated based on the top force signal and the displacement signal. The calculation steps include: Continuously collect and accumulate the jacking force signals of each jacking point to obtain the total jacking thrust F total (k), and at the same time, the displacement signal is accumulated to obtain the cumulative jacking displacement S of the jacking pipe tot,k , when the displacement increment ΔS i =S tot,k -S tot,k-1 =L i When , it is equal to the preset length L of the i-th pipe section i When the total thrust is recorded, that is, the total thrust F of all jacking points when the pipe section i is pushed forward total (i); Read the total jacking force F recorded when the previous pipe section is jacked total (i-1); Calculate the foundation friction resistance R of the i-th pipe segment i :R i =F total (i)-F total (i-1); Set the lubrication correction factor α according to the construction conditions lub , formation correction coefficient α soil and slope correction coefficient α slope Corrected axial friction Among them, F total (k) is the total thrust at the kth sampling moment; S tot,k is the cumulative displacement at the kth sampling moment; S tot,k-1 is the cumulative displacement value at the previous sampling time (k–1) immediately before the current sampling time k; L i is the design length of the i-th pipe section; F total (i) F total (i-1) are the total jacking forces at all jacking points when advancing to the i-th and i-1-th pipe sections respectively; R i is the foundation friction resistance of the i-th pipe section obtained by difference; α lub is the lubrication correction coefficient, which is less than 1 when lubricated sufficiently and approaches 1 when lubricated insufficiently; α soil is the stratum type correction coefficient, which is set according to the differences in soil properties such as sand, clay, and pebble layer; α slope is the slope correction coefficient, which is greater than 1 in uphill sections, less than 1 in downhill sections, and equal to 1 in horizontal sections; is the axial friction resistance of the i-th pipe section after comprehensive correction.

4. The multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to claim 1 is characterized by: Comparing the real-time attitude angle signal with the designed target attitude, the attitude deviation is as follows: According to the current mileage position of the pipe jacking machine, the design target pitch angle, design target yaw angle and design target roll angle corresponding to the position are read from the pre-stored attitude design curve; Obtain the real-time pitch angle, real-time yaw angle and real-time roll angle of the pipe jacking machine at the same position from the attitude sensor; The pitch angle deviation is obtained by subtracting the design target pitch angle from the real-time pitch angle, the yaw angle deviation is obtained by subtracting the design target yaw angle from the real-time yaw angle, and the roll angle deviation is obtained by subtracting the design target roll angle from the real-time roll angle.

5. The multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to claim 1 is characterized by: The process of inputting the speed deviation, the axial friction of the corresponding pipe section and the posture deviation into the coupling control algorithm and outputting the jacking force increment or speed correction is as follows: Taking speed deviation as the main control variable, a speed feedback channel is constructed and the PID controller or fuzzy PID compound controller outputs the preliminary force increment or preliminary speed correction value; The pitch angle deviation, yaw angle deviation and roll angle deviation are input into the fuzzy controller, and the gain coefficient for attitude correction is output; The corrected axial friction force is used as the thrust modulation factor to dynamically adjust the amplitude of the thrust increment; An objective function is constructed based on the weighted sum of the square of velocity deviation, the square of attitude correction gain coefficient, and the square of axial friction resistance, and the incremental force and / or velocity correction are jointly solved. The above control process is suitable for real-time operation in a PLC or embedded control system, and is used to realize multi-point synchronous propulsion and real-time deviation correction control of the pipe jacking machine posture.

6. The multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to claim 5 is characterized by: Objective function J i The expression is as follows: Where Δv i is the speed deviation of the i-th jacking point; k atti is the attitude correction gain coefficient; is the corrected axial friction coefficient of the i-th pipe segment; w1 is the speed deviation weight coefficient; w2 is the attitude deviation weight coefficient; w3 is the axial friction coefficient.

7. The multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to claim 6 is characterized by: The attitude correction gain coefficient k atti The calculation of includes the following steps: Divide the pitch angle deviation, yaw angle deviation and roll angle deviation at the i-th position by the maximum allowable deviation threshold of the corresponding direction to obtain the normalized deviation value and Set the weight coefficients w for pitch, yaw and roll angles respectively pitch 、w yaw and w roll , and calculate the total posture deviation according to the following weighted formula: The total posture deviation ε att,i Input the segmented gain mapping function to obtain the attitude correction gain coefficient k atti : When ε att,i When k is less than the first threshold, atti =0; When ε att,i When k is between the first threshold and the second threshold, atti With ε att,i Linear growth; When ε att,i When k is greater than the second threshold, atti Equal to 1.

8. The multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to claim 1 is characterized by: The hydraulic jacking device preferably adopts a hollow high-pressure hydraulic jack, which has a rated thrust of not less than 1000kN, a rated working pressure of 25MPa, and a stroke range of 300mm to 1000mm.

9. The multi-point synchronous jacking force distribution and posture monitoring system for ultra-long distance pipe jacking construction according to claim 1 is characterized by: The hydraulic jacking device is specifically a hydraulic jack system provided at the main jacking station and several relay jacking stations of the pipe jacking machine. The hydraulic jack system includes: Hydraulic cylinder and piston assembly, used to convert hydraulic energy into jacking force; Proportional control hydraulic valve group is used to adjust the hydraulic flow and pressure to achieve controllable jacking force and propulsion speed; The displacement sensor is integrated on the cylinder body to detect the propulsion displacement in real time; The pressure sensor is installed in the oil inlet pipe or the cylinder inlet cavity to detect the output push force in real time; Quick connector and oil circuit connection assembly, used to connect with the central hydraulic station or control module; The hydraulic jacking device can be configured individually or in groups to act on multiple jacking points respectively, thereby realizing a multi-point synchronous jacking function.

10. A control method for multi-point synchronous jacking force distribution and posture monitoring in ultra-long distance pipe jacking construction, characterized by: include: The jacking force signal, displacement signal and attitude angle signal of each jacking point are obtained; the displacement signal is numerically differentiated to obtain the real-time propulsion speed of each jacking point, and the speed deviation is obtained by comparing it with the preset target propulsion speed; the axial friction resistance of the corresponding pipe segment is calculated based on the jacking force signal and the displacement signal; the real-time attitude angle signal is compared with the design target attitude to obtain the attitude deviation; the speed deviation, the axial friction resistance of the corresponding pipe segment and the attitude deviation are input into the coupling control algorithm, and the jacking force increment or speed correction amount is output; according to the jacking force increment or speed correction amount, the output jacking force or propulsion speed of the hydraulic jacking device installed at the jacking points of the main jacking station and several relay jacking stations of the pipe jacking machine are adjusted respectively, so as to realize multi-point synchronous jacking and real-time correction of the pipe segment attitude.

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