A method and system for three-dimensional coupling regulation of a road roller and layered filling

Abstract

The application provides a road roller-layered filler three-dimensional coupling regulation method and system, relates to the roadbed compaction technical field, and comprises the following steps: acquiring vibration wheel data, calculating vibration force based on the vibration wheel data; acquiring steering lag angle data, calculating shear force based on the steering lag angle data; acquiring road roller speed data, calculating moving force based on the road roller speed data; constructing a layered stress coupling equation based on the vibration force, the shear force and the moving force; obtaining the stress state of each measuring point based on the layered stress coupling equation; performing frequency domain analysis or time domain integration on the stress state of each measuring point to obtain the corresponding effective dynamic stress; and calculating the target vibration frequency, the target moving speed and the target steering angle based on the effective dynamic stress. Through multi-dimensional dynamic sensing and space-time coupling model, the application quantifies the road roller movement and filler response in real time, overcomes the limitations of traditional methods relying on a single parameter and offline detection, and greatly improves the compaction degree evaluation accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of subgrade compaction, in particular to a compactor-layered filling three-dimensional coupling regulation method and system. BACKGROUND

[0002] The compactor is a key equipment in the construction of infrastructure such as roads and railways, and its compaction effect directly affects the engineering quality. The traditional compaction quality evaluation mainly relies on the following technologies:

[0003] Single parameter monitoring: measuring the vibration parameters of the vibration wheel through an acceleration sensor, or using a nuclear density gauge for offline sampling detection.

[0004] Simplified dynamic model: a mechanical model is established based on single motion form of vibration or movement, ignoring the multi-dimensional motion coupling effect.

[0005] Static evaluation method: using post-detection method, which cannot reflect the dynamic changes of the filling stress field in the construction process in real time.

[0006] In summary, the traditional compactor dynamics model only considers single motion form, which cannot accurately describe the space-time coupling effect of compactor multi-dimensional motion and layered filling, resulting in inaccurate compaction degree prediction and inability to guide fine construction. SUMMARY

[0007] The purpose of the present application is to provide a compactor-layered filling three-dimensional coupling regulation method and system to improve the above problems. In order to achieve the above purpose, the technical solutions adopted by the present application are as follows:

[0008] In the first aspect, the present application provides a compactor-layered filling three-dimensional coupling regulation method, comprising:

[0009] Obtaining vibration wheel data, calculating vibration force based on vibration wheel data;

[0010] Obtaining steering lag angle data, calculating shear force based on steering lag angle data;

[0011] Obtaining compactor speed data, calculating moving force based on compactor speed data;

[0012] Building a layered stress coupling equation based on vibration force, shear force and moving force;

[0013] Obtaining stress state of each measurement point based on the layered stress coupling equation;

[0014] Performing frequency domain analysis or time domain integration on the stress state of each measurement point to obtain the corresponding effective dynamic stress;

[0015] Calculating target vibration frequency, target moving speed and target steering angle based on the effective dynamic stress.

[0016] In a second aspect, the application also provides a road roller-layered filling three-dimensional coupling regulation system, comprising:

[0017] A first calculation module is configured to acquire vibration wheel data and calculate vibration force based on the vibration wheel data;

[0018] A second calculation module is configured to acquire steering hysteresis angle data and calculate shear force based on the steering hysteresis angle data;

[0019] A third calculation module is configured to acquire road roller speed data and calculate moving force based on the road roller speed data;

[0020] A first construction module is configured to construct a layered stress coupling equation based on the vibration force, the shear force and the moving force;

[0021] A fourth calculation module is configured to obtain stress states of each measuring point based on the layered stress coupling equation;

[0022] A fifth calculation module is configured to perform frequency domain analysis or time domain integration on the stress states of each measuring point to obtain corresponding effective dynamic stresses;

[0023] A sixth calculation module is configured to calculate a target vibration frequency, a target moving speed and a target steering angle based on the effective dynamic stresses.

[0024] The application has the following beneficial effects:

[0025] The application quantifies road roller movement and filling response in real time through multi-dimensional dynamic perception and space-time coupling model, overcomes the limitations of traditional methods relying on single parameters and offline detection, and greatly improves compaction degree evaluation accuracy. An adaptive construction parameter regulation mechanism is designed to dynamically optimize vibration frequency, moving speed and steering strategy, adapt to filling characteristic changes and real-time compaction state, avoid under-compaction or over-compaction, and save energy and material costs.

[0026] Other features and advantages of the application will be illustrated in the following description, and some will become apparent from the description, or will be understood by those skilled in the art from the description, or will be understood by implementing the embodiments of the application. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained from these drawings without creative labor.

[0028] Figure 1 The flowchart of the road roller-layered filling three-dimensional coupling regulation method of the embodiments of the application;

[0029] Figure 2 Figure is a structural schematic diagram of the road roller-layered filler three-dimensional coupling regulation and control device in the embodiment of the present application.

[0030] Marked in the figure: 800 - road roller-layered filler three-dimensional coupling regulation and control device; 801 - processor; 802 - memory; 803 - multimedia component; 804 - I / O interface; 805 - communication component. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be described clearly and completely below in combination with the drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiment of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiment of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative labor on the basis of the embodiments in the present application belong to the scope of protection of the present application.

[0032] It should be noted that: similar labels and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0033] In order to realize the method of the present application, the field multi-dimensional sensor is deployed as follows:

[0034] A high-sensitivity three-axis acceleration sensor (range ± 50g, sampling frequency ≥ 5kHz) is installed at the axis of the road roller vibrating wheel, which captures the high-frequency dynamic excitation force (Fvib(t)) of the vibrating wheel in the frequency band of 0.1-3kHz in real time, and is used to analyze the transmission law of vibration energy in the filler layer.

[0035] A high-precision rotary encoder (resolution ≤ 0.01°) is integrated at the hub of the drive wheel, which synchronously records the steering angle (θ(t)), angular velocity (ω(t)) and lateral displacement trajectory of the road roller, and is used to quantify the shear stress distribution and stress concentration area in the rolling process, t is time.

[0036] A differential GPS displacement sensor (positioning accuracy ± 2cm) and a speed encoder (resolution 0.01m / s) are installed on the road roller body, which obtains the moving speed (v(t)) and three-dimensional motion trajectory (x(t), y(t), z(t)) of the road roller, and is used to analyze the space-time diffusion characteristics of the stress field.

[0037] Layered stress field monitoring:

[0038] Distributed fiber optic strain sensors (DTS technology, spatial resolution 0.5m) are buried in the subgrade at a depth of 0.1-3m, with a burial interval of 0.2m, to obtain the dynamic stress field distribution and strain accumulation process of each layer of filler in real time.

[0039] Data synchronization acquisition and preprocessing

[0040] Space-time synchronization mechanism:

[0041] A time synchronization protocol based on 5G (error <1ms) is used to ensure the precise alignment of vibration, rotation, movement and layered stress data in space-time dimensions, eliminating time lag and phase difference of multi-source data.

[0042] Dynamic signal noise reduction:

[0043] Adaptive wavelet threshold filtering technology (such as db8 wavelet, threshold coefficient 3σ) is introduced to effectively filter out high-frequency noise of sensors and construction environment interference (such as mechanical resonance, electromagnetic interference).

[0044] Example 1:

[0045] Referring to Figure 1 , the embodiment provides a road roller-layered filler three-dimensional coupling regulation method, which comprises steps S100, S200, S300, S400, S500, S600 and S700.

[0046] S100, obtaining vibration wheel data, and calculating vibration force based on the vibration wheel data;

[0047] The dynamic excitation force generated by high-frequency excitation of the vibration wheel is the core driving force of compaction. The vibration angular acceleration a(ω, t) is obtained by a vibration sensor (frequency range 10-50Hz, sampling rate ≥1kHz), and the dynamic vibration force F vib is calculated based on the vibration wheel mass m vib :

[0048] ;

[0049] wherein, is the derivative symbol, is the second derivative;

[0050] S200, obtaining steering lag angle data, and calculating shear force based on the steering lag angle data;

[0051] When the road roller is steering or curve rolling, the coordinated movement of the drive wheel (steering angular velocity θ(t)) and the vibration wheel (steering lag angle ) generates shear stress, promoting the rearrangement of filler particles. The calculation of shear force is as follows:

[0052] S210, obtaining the turning trajectory of the road roller through the rotary encoder, obtaining the turning hysteresis angle of the road roller based on the turning trajectory, and obtaining the turning angular velocity of the road roller;

[0053] S220, constructing a turning hysteresis angle correction term based on the turning hysteresis angle, that is, ;

[0054] S230, calculating the shear force based on the tire-filling friction coefficient, the turning angular velocity, the normal pressure of the vibrating wheel, and the turning hysteresis angle correction term :

[0055] ;

[0056] wherein μ is the tire-filling friction coefficient, is the normal pressure of the vibrating wheel.

[0057] S300, obtaining the speed data of the road roller, and calculating the moving force based on the speed data of the road roller;

[0058] The speed of the road roller directly affects the spatial distribution of vibration energy and the stress accumulation of the filling. The rolling track is recorded by a displacement sensor (accuracy ≤1mm), and the moving force of each measuring point is calculated based on the kinetic theory of moving load , specifically including:

[0059] S310, obtaining the stress data of each measuring point in the layered filling based on the distributed optical fiber strain sensor;

[0060] S320, performing coordinate transformation on the stress data of each measuring point to obtain the stress tensor component of each measuring point 、 ;

[0061] The stress tensor is a second-order tensor that describes the internal stress state of a material, usually represented by a 3x3 matrix, containing 9 components (3 normal stress components and 6 shear stress components).

[0062] In three-dimensional space, the components of the stress tensor are represented as σ IJ (I, J=X, Y, Z), X, Y, Z represent the coordinate axis direction, wherein:

[0063] The first subscript I: represents the normal direction of the stress surface (i.e., the plane on which the stress is located).

[0064] The second subscript J: represents the direction of the stress component (i.e., the coordinate axis on which the stress vector is projected).

[0065] For example, is a shear stress acting in the X-direction plane along the Y-direction.

[0066] The stress tensor components are expressed in matrix as follows:

[0067] ;

[0068] The distributed optical fiber strain sensor can only obtain 、 two directions of data, and the obtained stress data needs to be coordinate transformed to obtain the stress tensor components in the specific coordinate direction required by the present application.

[0069] S330, obtaining a preset stress dispersion coefficient according to the filler type ;

[0070] S340, based on the stress tensor components and the stress dispersion coefficient, the moving force is calculated according to the moving load kinetics theory :

[0071] ;

[0072] wherein, is the stress dispersion coefficient (related to the filler type), is the velocity coupling coefficient, is the real-time moving speed of the road roller (real-time road roller speed data), recorded by a displacement sensor (accuracy ≤1mm); X and Y represent the stress component directions. The equation quantifies the stress dispersion range and attenuation law caused by the moving speed.

[0073] S400, constructing a layered stress coupling equation based on the vibration force, the shear force and the moving force; specifically as follows:

[0074] S410, obtaining construction information, and layering the filler based on the construction information;

[0075] determining the total height of the construction roadbed, and the present embodiment selects to perform layered monitoring in the depth range of 0.1-3m of the roadbed, with an interval of 0.2m between each layer. A plurality of measurement points are arranged in each layer, in an array distribution.

[0076] S420, obtaining the road roller vibration response data, and calculating the filler density of each layer based on the vibration response data;

[0077] A mathematical model is established according to the propagation characteristics of stress waves in the vibration compaction process. The propagation speed and attenuation characteristics of stress waves in the compacted material are related to the density and elastic modulus of the material. By analyzing the vibration response data, the propagation speed and attenuation coefficient of stress waves are extracted, and based on these parameters, an appropriate inversion algorithm (such as the least squares method, genetic algorithm, etc.) is used to invert the density of the filler from the vibration response data. The objective function can be the difference between the actual measured vibration response and the predicted vibration response of the theoretical model. By minimizing the objective function, the estimated value of the filler density is optimized.

[0078] S430, based on the distributed optical fiber strain sensor, the displacement change data of the optical fiber at each point along the line is obtained, and then the displacement field is generated through spatial interpolation to obtain the displacement vector of each measurement point in the layered filler;

[0079] S440, based on the density of each layer of filler, the displacement vector of each measurement point, the constitutive stress tensor of the measurement point, the vibration force, the shear force and the moving force, the layered stress coupling equation is constructed:

[0080] ;

[0081] Wherein: is the density of the i-th layer of filler; is the displacement field vector; is the layered constitutive stress tensor, and the layered constitutive stress tensor contains stress components in all directions; is the gravity and other external loads. is the sum of dynamic excitation forces generated by vibration, rotation and movement, K=1 is the vibration force; K=2 is the shear force; K=3 is the moving force; is a differential operator for "stress field to body force" conversion; is a summation symbol, is the summation of the layered constitutive stress tensor in each direction.

[0082] S500, based on the layered stress coupling equation, the stress state of each measurement point is obtained;

[0083] Firstly, the layered embedded fiber Bragg grating (FBG) sensor array is used to calculate the real-time stress components of each layer through the relationship between wavelength shift (Δλ) and stress:

[0084] ;

[0085] Where i is the layer number, x is the stress direction, is the calibration coefficient, which needs to be determined through experiments; is the real-time stress component of the i-th layer, The wavelength shift of the sensor under the stress in the x direction.

[0086] Substitute the layered stress coupling equation:

[0087] ;

[0088] Wherein, The density of the i-th layer filler (unit: kg / m³).

[0089] The second-order displacement derivative (acceleration vector) of the i-th layer filler at time t.

[0090] The theoretical stress tensor component of the filler.

[0091] The modified stress component obtained by the optical fiber sensor and demodulation.

[0092] The gravity acceleration vector and other external loads of the i-th layer filler.

[0093] Through the above equation, we can solve , that is, the dynamic stress component σ(x, y, z, t) of any measurement point; (x, y, z) represents the measurement point coordinates, and t represents the time.

[0094] S600, frequency domain analysis (such as vibration main frequency component extraction) or time domain integration (stress accumulation in the sliding window) is performed on the stress state of each measurement point to obtain the corresponding effective dynamic stress; the example formula is as follows:

[0095] ;

[0096] Wherein, The effective dynamic stress; T is the total time; The weight function is constructed based on the vibration frequency or time weight; The dynamic stress component of the i-th layer filler at the spatial coordinates (x, y, z) and time t, and the square operation is used to eliminate the influence of the stress direction, and only the cumulative effect of the stress size is reserved; The time integral operation, that is, the integral from 0 to T in time;

[0097] S700, based on the effective dynamic stress, the target vibration frequency, the target moving speed and the target turning angle are calculated.

[0098] Based on the vibration force, the shear force and the moving force, the effective dynamic stress of each layer is calculated;

[0099] Based on effective dynamic stress and dynamic Hill model, the actual compaction degree of each measuring point is calculated;

[0100] The traditional Hill model is only applicable to static load. This patent introduces a dynamic correction term:

[0101] ;

[0102] is the actual compaction degree of the i-th layer at time t, represents the maximum effective stress that the i-th layer of filler can achieve in a fully compacted state;

[0103] is a mechanical parameter coupling function, which is trained by a machine learning regression model (such as random forest) to quantify the non-linear effects of vibration frequency , steering angle θ and moving speed v on compaction degree.

[0104] The compaction degree target value of each layer is obtained Based on the compaction degree target value and the actual compaction degree, it is judged whether to trigger regulation. The compaction degree target value of the i-th layer is represented as ;

[0105] According to the design requirements of roadbed, set the hierarchical compaction degree target value and the tolerance zone [Kmin, Kmax]. The decision logic is: when the i-th layer compaction degree satisfies any of the following conditions, trigger regulation:

[0106] <Kmin or Δ / Δt>τ (compaction degree change rate exceeds limit), Δt is the time interval, Δ is the change value in the time interval Δt;

[0107] Where τ is a pre-set change rate threshold value for identifying abnormal compaction rate area.

[0108] If yes, adjust the vibration frequency, moving speed and steering angle according to the compaction degree target value and actual compaction degree.

[0109] In addition, combined with three-dimensional visualization technology, the weak area can be marked with different colors in the compaction degree cloud chart (such as red represents <90% , yellow represents = (90% 95%) ).

[0110] Vibration frequency adaptive regulation: ​

[0111] Objective: Optimize the depth of vibration energy transmission through frequency adjustment.

[0112] Control formula:

[0113] ;

[0114] where, is the adjusted frequency, is the current frequency, and Δf is the frequency step (e.g., ±2 Hz), is the standard deviation of the i-th layer filler vibration response, and sign( ) is the sign function to ensure the frequency adjustment direction is consistent with the compaction deviation.

[0115] Moving speed adaptive control:

[0116] Objective: Balance compaction efficiency and uniformity, avoid overcompaction or undercompaction.

[0117] Control formula:

[0118] ;

[0119] where, is the adjusted moving speed; is the current moving speed; is the speed adjustment step (set according to engineering experience, e.g., ±0.5 km / h); is the nonlinear adjustment coefficient (value range 0.5-1.0, used to control the sensitivity of speed adjustment); sign( ) is the sign function, which determines the speed increase or decrease according to the compaction deviation direction (+1 indicates acceleration, -1 indicates deceleration); is the compaction target value of the i-th layer;

[0120] Steering angle adaptive control:

[0121] Objective: Avoid compacted areas, preferentially compact weak areas.

[0122] Path planning algorithm:

[0123] Based on the layered stress state, generate a compaction gradient field, which includes the change rate of compaction at each measurement point;

[0124] The compaction gradient field △K(x, y, z) = is generated based on the layered stress state, (x, y, z are the spatial coordinates of the measurement points);

[0125] Based on the target compaction, the current compaction of the measurement point, and the change rate of compaction, calculate the target steering angle according to the proportional-integral control method:

[0126] ;

[0127] wherein, is the adjusted steering angle; is the actual compaction degree of the current layer (i-th layer), is the unadjusted steering angle.

[0128] 、 : proportional and differential control coefficient. is the compaction degree change rate (reflecting the compaction rate). When the compaction degree of the position (measurement point) where the road roller is located is insufficient, the road roller is adjusted to increase the steering angle, so that the road roller preferentially repeatedly rolls in this area.

[0129] Embodiment 2:

[0130] The embodiment provides a road roller-layered filling three-dimensional coupling regulation system, comprising:

[0131] A first calculation module is configured to acquire vibration wheel data and calculate vibration force based on the vibration wheel data.

[0132] A second calculation module is configured to acquire steering hysteresis angle data and calculate shear force based on the steering hysteresis angle data.

[0133] A third calculation module is configured to acquire road roller speed data and calculate moving force based on the road roller speed data.

[0134] A first construction module is configured to construct a layered stress coupling equation based on the vibration force, the shear force and the moving force.

[0135] A fourth calculation module is configured to obtain stress states of each measurement point based on the layered stress coupling equation.

[0136] A fifth calculation module is configured to perform frequency domain analysis or time domain integration on the stress states of each measurement point to obtain corresponding effective dynamic stresses.

[0137] A sixth calculation module is configured to calculate a target vibration frequency, a target moving speed and a target steering angle based on the effective dynamic stresses.

[0138] As an optional implementation, the second calculation module comprises:

[0139] A first acquisition unit is configured to acquire a road roller steering track by a rotary encoder, acquire a steering hysteresis angle of the road roller based on the steering track, and acquire a steering angular velocity of the road roller.

[0140] A first construction unit is configured to construct a steering hysteresis angle correction term based on the steering hysteresis angle.

[0141] The first calculation unit is configured to calculate the shear force based on the tire-filler friction coefficient, the steering angular velocity, the normal pressure of the vibrating wheel, and the steering hysteresis angle correction term.

[0142] As an optional implementation, the third calculation module comprises:

[0143] The second acquisition unit is configured to acquire stress data of each measurement point in the layered filler based on the distributed optical fiber strain sensor.

[0144] The first transformation unit is configured to perform coordinate transformation on the stress data of each measurement point to obtain stress tensor components of each measurement point.

[0145] The third acquisition unit is configured to acquire a preset stress diffusion coefficient according to the filler type.

[0146] The second calculation unit is configured to calculate the moving force based on the stress tensor components and the stress diffusion coefficient according to the moving load kinetics theory.

[0147] As an optional implementation, the first construction module comprises:

[0148] The fourth acquisition unit is configured to acquire construction information and perform layering on the filler based on the construction information.

[0149] The fifth acquisition unit is configured to acquire roller vibration response data and calculate the density of each layer of filler based on the vibration response data.

[0150] The sixth acquisition unit is configured to acquire displacement change data of each point along the line of the optical fiber based on the distributed optical fiber strain sensor, and generate a displacement field by spatial interpolation to obtain displacement vectors of each measurement point in the layered filler.

[0151] The second construction unit is configured to construct a layered stress coupling equation based on the density of each layer of filler, the displacement vectors of each measurement point, the constitutive stress tensor of the measurement point, the vibration force, the shear force, and the moving force.

[0152] Embodiment 3:

[0153] Corresponding to the above method embodiment, the present embodiment also provides a roller-layered filler three-dimensional coupling regulation and control device. The roller-layered filler three-dimensional coupling regulation and control device described below can be correspondingly referred to the roller-layered filler three-dimensional coupling regulation and control method described above.

[0154] Figure 2 is a block diagram of a roller-layered filler three-dimensional coupling regulation and control device 800 according to an exemplary embodiment. As shown in FIG. 8, the roller-layered filler three-dimensional coupling regulation and control device 800 comprises a first calculation module 810, a second acquisition unit 820, a first transformation unit 830, a third acquisition unit 840, a second calculation unit 850, a first construction module 860, a fourth acquisition unit 870, a fifth acquisition unit 880, a sixth acquisition unit 890, and a second construction unit 900. Figure 2As shown, the roller-layered filling three-dimensional coupling regulation device 800 includes a processor 801 and a memory 802. The roller-layered filling three-dimensional coupling regulation device 800 can also include one or more of a multimedia component 803, an I / O interface 804, i.e., an input / output interface, and a communication component 805. Among them, the processor 801 is configured to control the overall operation of the roller-layered filling three-dimensional coupling regulation device 800 to complete all or part of the steps in the roller-layered filling three-dimensional coupling regulation method described above. The memory 802 is configured to store various types of data to support the operation of the roller-layered filling three-dimensional coupling regulation device 800, which can include, for example, commands for any application or method operating on the roller-layered filling three-dimensional coupling regulation device 800, and application-related data, such as contact data, messages sent and received, pictures, audio, video, and the like. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0155] The multimedia component 803 can include a screen and an audio component. Among them, the screen can be a touch screen, for example, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals.

[0156] The received audio signals can be further stored in the memory 802 or sent out through the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, which can be a keyboard, a mouse, a button, etc. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the road roller-layered filling three-dimensional coupling regulation device 800 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 805 can include a Wi-Fi module, a Bluetooth module, an NFC module.

[0157] In another exemplary embodiment, a computer readable storage medium including program commands is also provided, which, when executed by a processor, implements the steps of the road roller-layered filling three-dimensional coupling regulation method described above. For example, the computer readable storage medium can be the memory 802 described above including program commands, and the program commands can be executed by the processor 801 of the road roller-layered filling three-dimensional coupling regulation device 800 to complete the road roller-layered filling three-dimensional coupling regulation method described above.

[0158] It should be noted that, in this document, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0159] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A three-dimensional coupling control method for a road roller-layered filler, characterized in that, include: Acquire data from the vibrating wheel and calculate the vibration force based on the data. Obtain steering lag angle data and calculate shear force based on the steering lag angle data; Acquire road roller speed data and calculate the moving force based on the road roller speed data; A layered stress coupling equation is constructed based on vibration force, shear force, and movement force, including: Obtain construction information and then stratify the fill material based on that information. Obtain vibration response data of the road roller and calculate the density of each layer of filler based on the vibration response data; Based on distributed optical fiber strain sensors, displacement change data at various points along the optical fiber are acquired, and then a displacement field is generated through spatial interpolation to obtain the displacement vector of each measurement point in the layered filler. Based on the density of each layer of filler, the displacement vector of each measurement point, the constitutive stress tensor of the measurement point, the vibration force, the shear force and the moving force, a layered stress coupling equation is constructed; The stress state at each measurement point is obtained based on the layered stress coupling equation; The corresponding effective dynamic stress is obtained by performing frequency domain analysis or time domain integration on the stress state at each measurement point. The target vibration frequency, target moving speed, and target turning angle are calculated based on effective dynamic stress.

2. The three-dimensional coupling control method for a road roller-layered filler according to claim 1, characterized in that, Acquire steering lag angle data, and calculate shear force based on the steering lag angle data, including... The steering trajectory of the road roller is obtained by rotating the encoder, the steering lag angle of the road roller is obtained based on the steering trajectory, and the steering angular velocity of the road roller is obtained. Construct a steering lag angle correction term based on the steering lag angle; The shear force is calculated based on the tire-pack friction coefficient, steering angular velocity, vibrating wheel normal pressure, and steering hysteresis correction term.

3. The three-dimensional coupling control method for a road roller-layered filler according to claim 1, characterized in that, Obtain the moving speed of the road roller, and calculate the moving force based on the moving speed, including: Based on distributed fiber optic strain sensors, stress data at various measurement points in layered packing were acquired. The stress data at each measurement point are transformed by coordinates to obtain the stress tensor components at each measurement point; The preset stress diffusion coefficient is obtained according to the type of filler; Based on the stress tensor components and stress diffusion coefficient, the moving force is calculated according to the theory of moving load dynamics.

4. The three-dimensional coupling control method for a road roller-layered filler according to claim 1, characterized in that, Target vibration frequency, target moving speed, and target turning angle are calculated based on effective dynamic stress, including: The effective dynamic stress of each layer is calculated based on vibration force, shear force, and movement force. Based on the effective dynamic stress and dynamic Hill model, the actual compaction degree of each measurement point is calculated; Obtain the compaction target value for each layer, and determine whether to trigger regulation based on the compaction target value and the actual compaction. If so, adjust the vibration frequency, moving speed, and turning angle according to the target compaction value and the actual compaction.

5. The three-dimensional coupling control method for a road roller-layered filler according to claim 1, characterized in that, Target vibration frequency, target moving speed, and target turning angle are calculated based on effective dynamic stress, including: Based on the layered stress state, a compaction gradient field is generated, which includes the rate of change of compaction at each measurement point. Based on the target compaction degree, the current compaction degree at the measurement point, and the rate of change of compaction degree, the target steering angle is calculated using the proportional-integral control method.

6. A three-dimensional coupled control system for a road roller-layered filler, characterized in that, include: The first calculation module is used to acquire data from the vibrating wheel and calculate the vibration force based on the data. The second calculation module is used to acquire steering lag angle data and calculate shear force based on the steering lag angle data; The third calculation module is used to acquire the roller speed data and calculate the moving force based on the roller speed data. The first building module is used to construct layered stress coupling equations based on vibration force, shear force, and movement force; The first building module includes: The fourth acquisition unit is used to acquire construction information and to stratify the fill material based on the construction information. The fifth acquisition unit is used to acquire vibration response data of the road roller and calculate the density of each layer of filler based on the vibration response data; The sixth acquisition unit is used to acquire displacement change data at various points along the optical fiber based on a distributed optical fiber strain sensor, and then generate a displacement field through spatial interpolation to obtain the displacement vector of each measurement point in the layered filler. The second building unit is used to construct the layered stress coupling equation based on the density of each layer of filler, the displacement vector of each measurement point, the constitutive stress tensor of the measurement point, the vibration force, the shear force and the moving force; The fourth calculation module is used to obtain the stress state at each measurement point based on the layered stress coupling equation; The fifth calculation module is used to perform frequency domain analysis or time domain integration on the stress state of each measurement point to obtain the corresponding effective dynamic stress. The sixth calculation module is used to calculate the target vibration frequency, target moving speed, and target turning angle based on the effective dynamic stress.

7. A three-dimensional coupled control system for a road roller-layered filler according to claim 6, characterized in that, The second calculation module includes: The first acquisition unit is used to acquire the steering trajectory of the road roller by rotating the encoder, acquire the steering lag angle of the road roller based on the steering trajectory, and acquire the steering angular velocity of the road roller. The first building unit is used to build a steering lag angle correction term based on the steering lag angle; The first calculation unit is used to calculate the shear force based on the tire-filler friction coefficient, steering angular velocity, vibrating wheel normal pressure, and steering hysteresis angle correction term.

8. A three-dimensional coupled control system for a road roller-layered filler according to claim 6, characterized in that, The third calculation module includes: The second acquisition unit is used to acquire stress data at each measurement point in the layered packing based on a distributed fiber optic strain sensor. The first transformation unit is used to perform coordinate transformation on the stress data of each measurement point to obtain the stress tensor components of each measurement point. The third acquisition unit is used to acquire the preset stress diffusion coefficient according to the type of packing. The second calculation unit is used to calculate the moving force based on the stress tensor components and stress diffusion coefficient, according to the theory of moving load dynamics.

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