An intelligent parameter adjusting device and method for a vibratory roller based on a jump rule

Abstract

This invention discloses an intelligent parameter adjustment device and method for vibratory rollers based on vibration jumping characteristics. The intelligent parameter adjustment device includes a vertical acceleration sensor and a vertical displacement sensor of the vibratory roller, respectively installed on the rear and front sides of the left axle end of the vibratory roller. It also includes an intelligent parameter adjustment system composed of a vibratory roller excitation amplitude reporting module, a vibratory roller excitation frequency reporting module, a compaction parameter calculation module, a vibratory roller compaction condition judgment module, a vibratory roller excitation parameter adjustment module, a vibratory roller compaction state correction module, and an onboard database. The compaction electronic control system is the original system of the vibratory roller. This invention targets the vibration jumping condition of the vibratory roller in the middle and later stages of vibratory compaction. Based on the onboard sensors of the vibratory roller sensing the compaction information of the current roadbed section and the state characteristics of the vibratory roller, it combines a physical constitutive model with an algorithm, achieving good real-time performance and high accuracy. Furthermore, the onboard database has iterative update capabilities.

Description

Technical Field

[0001] This invention relates to the field of vibration compaction technology equipment, and in particular to an intelligent parameter adjustment device and method for a vibratory roller based on the law of vibration. Background Technology

[0002] Currently, cracks, rutting, and uneven subgrade settlement are the main types of road maintenance defects. Rutting and uneven subgrade settlement are directly or indirectly related to the compaction degree and uniformity of the subgrade. Inadequate compaction degree and poor compaction uniformity are strongly correlated with the process specifications in the later stages of subgrade compaction. In the later stages of subgrade compaction, as the subgrade stiffness increases, vibration jumping is prone to occur when the excitation parameters are inappropriate. Vibration jumping is a major factor causing substandard compaction, reverse compaction, and increased subgrade surface unevenness. At present, due to the limitations of traditional compaction equipment and parameter adjustment strategies, vibration jumping of the vibratory roller does not necessarily cause the roller to lose its continuous and stable driving ability. This vibration jumping, which is not easily noticed by the driver, is also an important factor in substandard compaction. Existing parameter adjustment strategies for vibration jumping are relatively simple, with low accuracy and efficiency. They lack precise control of overall parameters based on physical structure models and lack an intelligent on-board database system with iterative data update capabilities. Currently, the intelligent compaction systems in China lag far behind those of major international brands of vibratory rollers. Factors such as the type of compaction equipment, the type of subgrade filler, and the dynamic parameters of the subgrade in the later stages of compaction are all closely related to the parameter adjustment strategy. Under the context of my country's massive highway network layout, how to accurately, quickly, and dynamically select appropriate excitation parameters in the later stages of subgrade compaction to avoid the jumping vibration condition caused by the nonlinear contact between the vibratory roller and the subgrade is an urgent problem to be solved.

[0003] Existing technology, patent CN201910209123, discloses an intelligent frequency and amplitude modulation compaction method for vibratory rollers. The focus is on analyzing the compaction state of the vibratory roller based on indoor experimental data, and using a control platform to perform deep learning of the data to adjust the excitation parameters.

[0004] Patent CN 202210738648 discloses a method and system for intelligently adjusting the vibration compaction of high-speed railway subgrade fill material with variable parameters. This method involves obtaining continuous deformation and settlement data from indoor vibration compaction tests, providing real-time feedback of the fill material's dry density, and then analyzing the fill material's natural frequency to achieve intelligent adjustment of vibration parameters.

[0005] Patent CN 202111133924 discloses a vibration auxiliary control method, control system, and vibratory roller for a vibratory roller. This auxiliary control method obtains the excitation frequency, subharmonic frequency, and their corresponding amplitudes by searching within a certain area. It intelligently judges the degree of vibration of the roller's vibratory wheel by setting an amplitude threshold, classifies the degree of vibration, and takes corresponding measures.

[0006] Patent CN 201510262903 discloses an anti-vibration control system and method for a vibratory roller. The method sets one or more threshold values. After the roller is started, the anti-vibration control system detects the pressure of the vibratory hydraulic system. Based on the pressure threshold range, it uses methods such as reducing the vibration frequency and amplitude to control vibration until the pressure of the vibratory hydraulic system reaches the highest threshold and stops vibrating.

[0007] Patent CN 202210770832 discloses a parameter optimization method and system for vibration compaction of high-speed railway filler. The method includes the following steps: (1) fitting the dry density of the compaction process using a hyperbola model to calculate and construct the original data; (2) establishing a dry density increment prediction model using a BP neural network based on the acquired training data; (3) evaluating the compaction quality using the compaction degree index and establishing compaction degree constraints; (4) solving the vibration parameter optimization process based on the GA algorithm and establishing a dynamic optimization model based on GA; (5) determining the dynamic optimization result after parameter optimization as the optimal scheme for vibration compaction.

[0008] In summary, the existing intelligent compaction systems for vibratory rollers have the following problems in their excitation parameter adjustment strategies for addressing vibration wheel bounce during the later stages of compaction:

[0009] (1) Parameter estimation and adjustment based solely on sensor-measured parameters. This method simply uses the sensors attached to the roller to directly measure the acceleration of the vibratory wheel, etc., and estimates the appropriate excitation parameters through simple logical decision-making and range trial calculation. This method is simple, but the accuracy is low and the real-time performance is poor. It cannot provide accurate parameter support to the parameter adjustment control system of the vibratory roller in a timely manner, and it does not dynamically consider the current compaction state of the roadbed.

[0010] (2) Adjusting excitation parameters solely based on sensors and simple control algorithms, while using various sensors and simple control algorithms to adjust parameters can achieve a certain control effect, the stability against interference is poor. There is no complete on-board database to realize the iterative update of parameter adjustment data. Moreover, most intelligent compaction control systems have low data utilization efficiency and do not have the function of sharing data between on-board database and upper-level vehicle network system.

[0011] (3) The strategy of using laboratory data to determine the parameter adjustment under relevant roadbed filling is limited in its applicability. It can only be used for the relevant roadbed filling types that have been determined. Moreover, there is a large error between laboratory environmental adjustment and actual working condition adjustment. This type also rarely considers the dynamic model and the nonlinear dynamic characteristics in the vibration wheel jumping condition. Summary of the Invention

[0012] The technical problem to be solved by the present invention is to provide an intelligent parameter adjustment device and method for vibratory rollers based on the vibration law. Targeting the vibration condition of the vibratory drum in the middle and late stages of vibration compaction, the device uses the onboard sensors of the vibratory roller to perceive the compaction information of the current roadbed section and the state characteristics of the vibratory drum. Through a combination of physical constitutive model and algorithm, it has good real-time performance, high accuracy, and the onboard database has iterative update capability.

[0013] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an intelligent parameter adjustment device for a vibratory roller based on the law of vibration, comprising a compaction control system for the vibratory roller and a vertical acceleration sensor and a vertical displacement sensor of the vibratory roller respectively disposed on the rear and front sides of the left axle end of the vibratory roller. The compaction control system is connected to a vibration frequency delivery module and a vibration amplitude delivery module. The vibration frequency delivery module transmits the vibration frequency information of the vibratory roller under the current working condition to the compaction parameter calculation module, and the vibration amplitude delivery module transmits the vibration amplitude information of the vibratory roller under the current working condition to the compaction parameter calculation module. The system includes a compaction parameter calculation module. The vertical acceleration sensor of the vibratory roller collects the vertical acceleration information of the vibratory roller and transmits it to the compaction parameter calculation module. This module includes a subgrade dynamic parameter calculation module and a dynamic response calculation module. The subgrade dynamic parameter calculation module calculates the dynamic compaction parameters of the current subgrade section, and the dynamic response calculation module calculates the response parameters of the vibratory roller's drum. The compaction parameter calculation module is connected to a vibratory roller compaction condition judgment module. This module evaluates the compaction state of the vibratory roller based on the excitation parameters of the vibratory roller and the subgrade compaction dynamic parameters under the current condition, and provides excitation to the vibratory roller during jumping vibration conditions. The vibration parameter adjustment module triggers a parameter adjustment action. The vibratory wheel compaction condition judgment module is connected to the vibratory wheel excitation parameter adjustment module, and the compaction parameter calculation module is connected to the vibratory wheel excitation parameter adjustment module. The vibratory wheel excitation parameter adjustment module connects to the on-board database and compares the excitation parameters of the vibratory wheel under the current working condition with the corresponding machine model, roadbed filler type, and bifurcation scatter plot data point data of the roadbed compaction stage in the on-board database. It then provides the optimal excitation parameters for the current working condition and sends them to the compaction electronic control system. The vibratory wheel vertical displacement sensor collects the displacement signal of the vibratory wheel under the current working condition and transmits it to the vibratory wheel compaction state correction module. The compaction parameter calculation module... Both the module and the vibratory roller compaction state correction module are connected to the vehicle-mounted database. The compaction parameter calculation module provides the calculated dynamic compaction parameters of the subgrade to the vehicle-mounted database for data pair retrieval. After the parameter adjustment action is completed, the vibratory roller compaction state correction module iteratively corrects the scatter data values ​​of the bifurcation scatter data group in the vehicle-mounted database based on the periodic signal of the steady-state response collected by the vertical displacement sensor of the vibratory roller. The vehicle-mounted database stores the excitation frequency bifurcation scatter data and excitation amplitude bifurcation scatter data of different subgrade fill types and different subgrades at each compaction stage under different types of vibratory rollers, and is connected to the cloud database through the vehicle network system.

[0014] A further improvement to the technical solution of this invention lies in: a parameter adjustment method for an intelligent parameter adjustment device for a vibratory roller based on the law of vibration, comprising the following steps:

[0015] Step S1: Sensing the dynamic information of the compaction state of the vibratory wheel in the compacted roadbed section and feeding it back to the compaction parameter calculation module. The dynamic information of the compaction state of the vibratory wheel in the compacted roadbed section includes the vibration amplitude, vibration frequency, acceleration and vertical displacement of the vibratory wheel obtained through the vibration amplitude reporting module, the vibration frequency reporting module, the vertical acceleration sensor and the vertical displacement sensor of the vibratory wheel.

[0016] Step S2: The compaction parameter calculation module calculates the dynamic compaction parameters of the current compacted subgrade section: Based on the established dynamic model of the vibratory roller-subgrade, the vertical acceleration signal of the vibratory roller is integrated, and the dynamic compaction parameters of the subgrade of the current compacted subgrade section are calculated by the subgrade dynamic parameter calculation module. The calculated dynamic compaction parameters of the subgrade are sent to the dynamic response calculation module to calculate the vertical displacement response of the vibratory roller in the dynamic model. The vertical displacement response of the vibratory roller is then sent to the vibratory roller compaction condition judgment module, the vibratory roller excitation parameter adjustment module, and the vehicle database.

[0017] Step S3: Current roadbed section vibratory wheel compaction status perception and judgment: The vibratory wheel compaction condition judgment module classifies the vibratory wheel compaction condition into non-jumping vibration, jumping vibration, and weakly chaotic conditions based on the vertical displacement response of the vibratory wheel and the vibratory wheel condition judgment standard.

[0018] Step S4: The vibration wheel excitation parameter adjustment module estimates the optimal excitation parameters: Based on the current subgrade dynamic parameters, the current vibration wheel excitation frequency, and the current vibration wheel excitation amplitude, the vibration wheel excitation parameter adjustment module screens out the optimal vibration wheel excitation parameters under the current subgrade dynamic parameters according to the parameter adjustment criteria of the bifurcation scatter data chart group, and sends these estimated vibration wheel excitation parameters to the compaction electrical control system.

[0019] Step S5, Correction of the compaction state of the vibratory wheel in the compacted roadbed section: After the vibration parameters of the vibratory wheel are adjusted, the vertical displacement sensor of the vibratory wheel records the vertical displacement response signal of the vibratory wheel after the adjustment of the vibration parameters, and records the trough values ​​within 10 cycles in the steady-state signal of the vertical displacement of this section. The scatter points of the troughs within these 10 cycles are compared with the vertical displacement values ​​of the vibratory wheel under the vibration amplitude and vibration frequency of the vibratory wheel in the vehicle database. If it is not a unit point value, the scatter point data value at this position in the vehicle database is corrected, and the original scatter point data value in the vehicle database is deleted. This is to realize the iterative update of the scatter point data in the bifurcation scatter point data map in the vehicle database, so that the vehicle database has the function of autonomous learning and iterative update.

[0020] Step S6: Store data in the vehicle database.

[0021] A further improvement to the technical solution of the present invention is that the specific steps of step S2 are as follows:

[0022] Step S21: Build a dynamic model of the vibratory roller-subgrade and calculate the dynamic compaction parameters of the subgrade based on the response speed signal of the vibratory roller according to the principle of balance of each harmonic component.

[0023] Step S22: Based on the vibratory roller-subgrade dynamic model established in step S21, after the subgrade dynamic parameter calculation module calculates the dynamic parameters of the current compacted subgrade section based on the vertical acceleration signal of the vibratory roller, the calculated compacted subgrade dynamic parameters are sent to the dynamic response calculation module.

[0024] A further improvement to the technical solution of the present invention is that the dynamic model of the vibratory roller-subgrade in step S21 is as follows:

[0025] Establish the dynamic equations based on the static equilibrium point:

[0026]

[0027] F0=A0m2ω 2 ; ω = 2πf

[0028] In the formula: m1, x1 are the mass and displacement of the roller frame; k1 and c1 are the stiffness and damping of the vibration damper between the frame and the vibrating drum; m2, x2 are the mass and displacement of the vibrating drum; m3, x3 are the mass and displacement of the roadbed; k2 and c2 are the stiffness and damping of the roadbed; F0, ω are the excitation force of the vibrating drum and the rotational angular velocity of the eccentric block; A0, f are the excitation amplitude and excitation frequency of the vibrating drum; F n The dynamic force is the force exerted by the vibrating wheel in contact with the ground. The speed of the frame, vibrating wheel, and roadbed; The accelerations of the frame, vibrating wheel, and roadbed;

[0029] When the vibratory roller is in contact with the material being compacted, x2 = x3, then By eliminating x3, The dynamic force equation of the wheel-road system when grounded can be obtained as follows:

[0030]

[0031] When the vibratory wheel bounces, there is a situation where the vibratory wheel and the roadbed are not in contact. At this time, there is no mechanical relationship between the two, then F n =0; Therefore, it can be concluded that when the vibratory wheel is jumping off the compacted roadbed surface, a contact nonlinearity phenomenon of the vibratory wheel will occur. In summary, the piecewise nonlinear function equation of the wheel-road dynamic force is:

[0032]

[0033] When the compaction condition of the vibratory roller is a jumping vibration condition, that is, the dynamic force between the wheel and the roadbed is intermittently zero for a long time, and the vibratory wheel and the roadbed are in a nonlinear contact state. At this time, the acceleration signal of the vibratory wheel is in a chaotic stage, and the dynamic parameters of the roadbed cannot be effectively calculated. Therefore, the dynamic parameters of the roadbed can only be identified under the condition of linear contact between the vibratory wheel and the roadbed. Thus, the identification equation of the dynamic parameters of the vibratory wheel-roadbed can be established:

[0034]

[0035] in:

[0036] Expand the displacement, velocity, acceleration, and F0sin(ωt) of the frame and vibrating wheel into Fourier series form:

[0037]

[0038]

[0039]

[0040]

[0041] Where: u 1k v 1k w 1k These are the k-th Fourier coefficients of the frame's displacement, velocity, and acceleration, respectively; u 2k v 2k w 2k f represents the k-th Fourier coefficients of the displacement, velocity, and acceleration of the vibrating wheel, respectively; k The k-th order Fourier coefficient of the excitation force;

[0042] Based on the harmonic balance principle of the vibratory wheel-subgrade coupled system response, the Fourier series expansion of the vibratory wheel-subgrade dynamic equation under any order of harmonics holds true, and the dynamic parameter identification equation of the subgrade compacted soil can be established:

[0043]

[0044]

[0045] It can be abbreviated as:

[0046] definition Let e1 and e2 be the error matrix, where e1 and e2 are the errors of the frame and the vibrating wheel, respectively.

[0047]

[0048] The sum of squares of the errors is:

[0049]

[0050]

[0051]

[0052] Solving this system of equations yields the dynamic compaction parameters of the subgrade fill soil, namely the subgrade dynamic stiffness k2 and the subgrade dynamic damping c2. After the subgrade dynamic parameter calculation module calculates the dynamic parameters of the current subgrade compaction section, it sends the current subgrade dynamic stiffness k2 and subgrade dynamic damping c2 information to the dynamic response calculation module to calculate the dynamic response of the model. At the same time, it sends this parameter set to the vibration wheel excitation parameter adjustment module. The vibration wheel excitation parameter adjustment module retrieves the corresponding vibration suppression and excitation parameter pairs from the bifurcation scatter plot data of the vehicle database based on the current subgrade dynamic parameters of the compacted subgrade section.

[0053] A further improvement of the technical solution of the present invention is that: in step S22, the Runge-Kutta method is used to calculate the steady-state response of the vibratory wheel dynamics under the current compaction state. This steady-state response includes the vertical displacement response of the vibratory wheel. The vertical displacement signal of the vibratory wheel is sent to the vibratory wheel compaction condition judgment module and the vehicle-mounted database to judge the vibration state of the vibratory wheel in the current compacted roadbed section and to draw and store the bifurcation scatter plot data. The nonlinear coupled dynamic equations are solved using the Runge-Kutta method as follows:

[0054]

[0055]

[0056] A further improvement of the technical solution of the present invention lies in the following: In step S3, the dynamic model response data of the vibratory roller-subgrade section—wheel-road dynamic force and vertical displacement response of the vibratory roller—is calculated based on the current vibration amplitude and vibration frequency of the vibratory roller. It is then determined whether a zero-point signal appears in the wheel-road dynamic force response of the vibratory roller in the current state. If no zero-point signal appears, it is a non-jumping vibration condition. If a zero-point signal appears, it is further determined whether the wheel-road dynamic force time-domain response signal is in a quasi-periodic state. If it is not in a quasi-periodic state, it is determined that the vibratory roller is in a jumping vibration compaction state. If it is a quasi-periodic state, then it is further determined whether the negative displacement in the time domain response value of the vertical displacement of the vibrating wheel is greater than 2mm. If the negative displacement is not greater than 2mm, it is determined that the vibrating wheel is in a weak chaotic vibration compaction state. The weak chaotic vibration compaction state is beneficial to the vibration compaction in the middle and later stages. If the negative displacement is greater than 2mm, it is determined that the vibrating wheel is in a jumping vibration state. When it is determined that the current state is jumping vibration compaction, the response state of the vibrating wheel is continuously recorded for 5 seconds. If the response state of the vibrating wheel is still jumping vibration after 5 seconds, the vibration wheel excitation parameter adjustment module sends the adjustment parameters to the compaction electronic control system.

[0057] A further improvement of the technical solution of the present invention is that: in step S4, after the vibration wheel excitation parameter adjustment module receives the parameter adjustment instruction from the vibration wheel compaction condition judgment module, the vibration wheel excitation parameter is adjusted according to the following steps;

[0058] Based on the current dynamic stiffness parameters of the roadbed, the following criteria are used for searching the on-board database:

[0059] Rule 1: When the vibratory roller excitation parameter adjustment module receives the adjustment instructions from the current subgrade dynamic stiffness parameters and the vibratory roller compaction condition judgment module, the vibratory roller excitation parameter adjustment module first performs single-item parameter adjustment based on the current excitation parameters of the vibratory roller. That is, when the current excitation amplitude A0 of the vibratory roller is less than 1.5mm, the adjustment module only prioritizes the excitation frequency; when the current excitation frequency of the vibratory roller is greater than the high-frequency setting value of the roller, the adjustment module only prioritizes the excitation amplitude; when neither the excitation amplitude nor the excitation frequency of the vibratory roller is within the above range, the frequency parameter is adjusted first.

[0060] Criterion 2: In the later stage of vibration compaction, the vibration amplitude of the vibratory wheel should be preferred to be small. In the amplitude bifurcation scatter plot of the bifurcation scatter plot, when both are high-frequency displacement single-point values, the excitation value with smaller amplitude should be selected first. When adjusting the vibration parameters, the value should be gradually reduced as the current dynamic compaction stiffness of the subgrade increases.

[0061] Rule 3: In the later stage of vibration compaction, the excitation frequency of the vibratory wheel should be selected from the larger value. In the frequency bifurcation scatter plot of the bifurcation scatter plot, when there are low amplitude displacement single point values, the larger frequency excitation value should be selected first. When adjusting the jumping vibration parameters, the selected value should be gradually reduced as the current dynamic compaction stiffness of the subgrade increases.

[0062] After the vibration wheel excitation parameter adjustment module adjusts the excitation parameters according to the above criteria, it sends the newly adjusted excitation parameters to the compaction electrical control system to execute the new excitation parameter values.

[0063] A further improvement of the technical solution of the present invention is that: in step S6, the vehicle-mounted database contains data sub-databases for different types of vibratory rollers, wherein each data sub-database contains bifurcation scatter plots of dynamic parameters of different roadbeds under different roadbed fill types, wherein the roadbed fill types include coarse-grained soil roadbeds, multi-grained soil roadbeds, fine-grained soil roadbeds, soil roadbeds containing organic matter, and natural fill roadbeds.

[0064] A further improvement to the technical solution of the present invention is that: the bifurcation scatter data set recorded in the vehicle database in step S6 is derived from the roadbed dynamic stiffness k2 = 6 × 10 7 N·m -1 Start recording, the increase in roadbed dynamic stiffness in each data set is k. Δ =5×10 6 N·m -1 The rules for selecting the bifurcation scatter data set are as follows: The dynamic response calculation module calculates the vertical displacement response signal of the vibrating wheel in the current roadbed section dynamic model. The vertical displacement response signal is sinusoidal. The steady-state part of the sinusoidal response signal is taken, that is, the waveband signal after 1000 cycles of the sinusoidal signal. The valley value data of these waveband signals are taken, that is, the valley value data of each cycle valley within 5 cycles starting from 1000 cycles. This data is recorded in the bifurcation scatter data diagram under the excitation amplitude and excitation frequency of the vibrating wheel.

[0065] A further improvement to the technical solution of the present invention is that the recording format of the bifurcation scatter plot data group in the vehicle database in step S6 is as follows:

[0066] The bifurcation scatter plot data set consists of two parts: excitation amplitude bifurcation scatter plot data set and excitation frequency bifurcation scatter plot data set. In the bifurcation scatter plot data set, the horizontal axis represents the excitation frequency of the vibrating wheel and the vertical axis represents the peak value of the vertical displacement wave of the vibrating wheel. The excitation frequency and excitation amplitude of the vibrating wheel in the bifurcation scatter plot data set corresponding to the dynamic stiffness of the roadbed are calibrated according to the specifications of different types of road rollers.

[0067] Based on the current dynamic stiffness of the compacted roadbed, the excitation frequency bifurcation scatter plot under a certain excitation amplitude is used. The vertical axis corresponding to the horizontal axis in the bifurcation scatter plot is a single point data or a scatter plot data that converges to a certain single point range, which represents the vibratory wheel in a periodic compaction state or a quasi-periodic compaction state. This horizontal axis variable value is the data point that needs to be selected first for parameter adjustment. When a certain horizontal axis variable value corresponds to a double or four-value vertical axis variable, it corresponds to the double bifurcation zone and the four-bifurcation zone of the compaction period state of the vibratory wheel. At this time, the horizontal axis coordinate value is not used as the selection range of the parameter adjustment priority value. However, when there are multiple vertical coordinate values ​​corresponding to a certain horizontal axis, it means that the vibratory wheel is in a chaotic compaction state under this excitation parameter. At this time, the horizontal axis coordinate value is the range to be avoided when adjusting the parameters.

[0068] Based on the excitation amplitude bifurcation scatter plot at a certain excitation frequency under the current dynamic stiffness of the compacted roadbed, the independent variable of the bifurcation scatter plot is the excitation amplitude of the vibrating wheel. The vertical axis corresponding to the horizontal axis in the bifurcation scatter plot represents single-point data or scatter data converging within a certain single-point range, indicating that the vibrating wheel is in a periodic compaction state or a quasi-periodic compaction state. This horizontal axis variable value is the data point that needs to be selected first for parameter adjustment. When a certain horizontal axis variable value corresponds to a double or four-value vertical axis variable, it corresponds to the double bifurcation zone and the four bifurcation zone of the vibrating wheel compaction period state. At this time, the horizontal axis coordinate value is not used as the selection range of the parameter adjustment priority value. However, when there are multiple vertical coordinate values ​​corresponding to a certain horizontal axis, it indicates that the vibrating wheel is in a chaotic compaction state under this excitation parameter. At this time, the horizontal axis coordinate value is the range to be avoided.

[0069] The technological advancements achieved by this invention due to the adoption of the above technical solutions are as follows:

[0070] This invention introduces a physical model based on lumped parameters into the parameter tuning system. This type of model has the characteristics of high solution efficiency, which improves the real-time performance of the system. It applies the physical knowledge of bifurcation and chaos in nonlinear dynamics to construct the data structure of the vehicle database, which improves the structuredness and sharing of the data. The parameter tuning system uses a sensor-assisted correction algorithm module, which enables the vehicle database to have the learning ability to iteratively update. Attached Figure Description

[0071] Figure 1 This is a general layout diagram of an intelligent parameter adjustment device for a vibratory roller based on the law of vibration jumping.

[0072] Figure 2 This is a flowchart of an intelligent parameter adjustment device for a vibratory roller based on the law of vibration jumping.

[0073] Figure 3 This invention provides a dynamic model of a vibratory roller and roadbed.

[0074] Figure 4This is the logic diagram for judging the compaction state of the vibratory wheel in step S3 of the present invention;

[0075] Figure 5 This is a schematic diagram of the scatter data set of the bifurcation of the vibrating wheel in step S4 of the present invention;

[0076] Figure 6 This is a diagram of the vehicle-mounted database structure in this invention. Detailed Implementation

[0077] The present invention will be further described in detail below with reference to embodiments:

[0078] like Figure 1 As shown, an intelligent parameter adjustment device for a vibratory roller based on the law of vibration jumping includes a vertical acceleration sensor and a vertical displacement sensor of the vibratory roller respectively installed on the rear and front sides of the left axle end of the vibratory roller, as well as an intelligent parameter adjustment system composed of a vibratory roller excitation amplitude reporting module, a vibratory roller excitation frequency reporting module, a compaction parameter calculation module, a vibratory roller compaction condition judgment module, a vibratory roller excitation parameter adjustment module, a vibratory roller compaction state correction module, and an on-board database. The compaction electronic control system is the original system of the vibratory roller.

[0079] This intelligent parameter adjustment system module for vibratory rollers can be embedded in onboard systems such as WinCE or Android. The specific system module architecture and functions are as follows: Figure 1 As shown in Table 1.

[0080] Table 1 Functions of each module in the intelligent parameter tuning system

[0081]

[0082]

[0083] like Figure 2As shown, the compaction control system is connected to both the vibratory wheel excitation frequency delivery module and the vibratory wheel excitation amplitude delivery module. The vibratory wheel excitation frequency delivery module transmits the excitation frequency information of the vibratory wheel under the current operating condition to the compaction parameter calculation module. The vibratory wheel excitation amplitude delivery module transmits the excitation amplitude information of the vibratory wheel under the current operating condition to the compaction parameter calculation module. The vertical acceleration sensor of the vibratory wheel collects the vertical acceleration information of the vibratory wheel and transmits it to the compaction parameter calculation module. The compaction parameter calculation module includes a roadbed dynamic parameter calculation module and a dynamic response calculation module. The roadbed dynamic parameter calculation module calculates the dynamic compaction parameters of the current roadbed section. The dynamic response calculation module calculates the response parameters of the vibratory roller's vibratory drum. The compaction parameter solution module is connected to the vibratory drum compaction condition judgment module. The vibratory drum compaction condition judgment module evaluates the compaction state of the vibratory drum based on the excitation parameters of the vibratory drum and the roadbed compaction dynamic parameters under the current condition. In the case of jumping vibration, it sends a command to the vibratory drum excitation parameter adjustment module to trigger parameter adjustment. The vibratory drum compaction condition judgment module is connected to the vibratory drum excitation parameter adjustment module. The compaction parameter solution module... The block connects to the vibratory wheel excitation parameter adjustment module. This module connects to the on-board database and compares the vibration parameters of the vibratory wheel under the current working condition with the corresponding machine model, subgrade filler type, and bifurcation scatter plot data points in the on-board database. It then provides the optimal excitation parameters for the current working condition and sends them to the compaction control system. The vibratory wheel vertical displacement sensor collects the displacement signal of the vibratory wheel under the current working condition and transmits it to the vibratory wheel compaction state correction module. Both the compaction parameter calculation module and the vibratory wheel compaction state correction module are connected to the on-board database. The real parameter calculation module provides the calculated dynamic compaction parameters of the subgrade to the vehicle-mounted database for data pair retrieval. After the parameter adjustment action is completed, the vibratory roller compaction state correction module performs iterative correction of the scatter data values ​​of the bifurcation scatter data group in the vehicle-mounted database based on the periodic signal of the steady-state response collected by the vertical displacement sensor of the vibratory roller. The vehicle-mounted database stores the excitation frequency bifurcation scatter data and excitation amplitude bifurcation scatter data of different subgrade fill types and different subgrades at each compaction stage under different types of vibratory rollers, and is connected to the cloud database through the vehicle network system.

[0084] To achieve more efficient subgrade compaction with vibratory rollers in the later stages of compaction, different combinations of excitation parameters will result in different state responses of the vibratory roller as the subgrade matrix fill material becomes denser. Furthermore, the suitable excitation parameters vary depending on the type of subgrade fill material and the type of vibratory roller. Inappropriate selection of excitation parameters can easily lead to a chaotic compaction state of the vibratory roller, i.e., a jumping vibration condition. The core issue for achieving efficient and intelligent compaction with vibratory rollers is how to intelligently adjust the excitation parameters based on the dynamic coupling environment information of the vibratory roller and subgrade in the later stages of compaction.

[0085] This invention proposes a parameter adjustment method for an intelligent parameter adjustment device for a vibratory roller based on the law of vibration, comprising the following steps:

[0086] Step S1: Sensing the dynamic information of the compaction state of the vibratory wheel in the compacted roadbed section and feeding it back to the compaction parameter calculation module. The dynamic information of the compaction state of the vibratory wheel in the compacted roadbed section includes the vibration amplitude, vibration frequency, acceleration and vertical displacement of the vibratory wheel obtained through the vibration amplitude reporting module, the vibration frequency reporting module, the vertical acceleration sensor and the vertical displacement sensor of the vibratory wheel.

[0087] Step S2: The compaction parameter calculation module calculates the dynamic compaction parameters of the current compacted subgrade section. Based on the established dynamic model of the vibratory roller-subgrade, the vertical acceleration signal of the vibratory roller is integrated, and the dynamic compaction parameters of the subgrade of the current compacted subgrade section are calculated by the subgrade dynamic parameter calculation module. The calculated dynamic compaction parameters of the subgrade are sent to the dynamic response calculation module to calculate the vertical displacement response of the vibratory roller in the dynamic model. The vertical displacement response of the vibratory roller is then sent to the vibratory roller compaction condition judgment module, the vibratory roller excitation parameter adjustment module, and the on-board database.

[0088] The specific steps are as follows:

[0089] Step S21: Build a dynamic model of the vibratory roller-subgrade and calculate the dynamic compaction parameters of the subgrade based on the response speed signal of the vibratory roller according to the principle of balance of each harmonic component.

[0090] like Figure 3 As shown, the dynamic model of the vibratory roller-subgrade is as follows:

[0091] Establish the dynamic equations based on the static equilibrium point:

[0092]

[0093] F0=A0m2ω 2 ; ω = 2πf

[0094] In the formula: m1, x1 are the mass and displacement of the roller frame; k1 and c1 are the stiffness and damping of the vibration damper between the frame and the vibrating drum; m2, x2 are the mass and displacement of the vibrating drum; m3, x3 are the mass and displacement of the roadbed; k2 and c2 are the stiffness and damping of the roadbed; F0, ω are the excitation force of the vibrating drum and the rotational angular velocity of the eccentric block; A0, f are the excitation amplitude and excitation frequency of the vibrating drum; F n The dynamic force is the force exerted by the vibrating wheel in contact with the ground. The speed of the frame, vibrating wheel, and roadbed; The accelerations of the frame, vibrating wheel, and roadbed;

[0095] When the vibratory roller is in contact with the material being compacted, x2 = x3, then By eliminating x3, The dynamic force equation of the wheel-road system when grounded can be obtained as follows:

[0096]

[0097] When the vibratory wheel bounces, there is a situation where the vibratory wheel and the roadbed are not in contact. At this time, there is no mechanical relationship between the two, then F n =0; Therefore, it can be concluded that when the vibratory wheel is jumping off the compacted roadbed surface, a contact nonlinearity phenomenon of the vibratory wheel will occur. In summary, the piecewise nonlinear function equation of the wheel-road dynamic force is:

[0098]

[0099] When the compaction condition of the vibratory roller is a jumping vibration condition, that is, the dynamic force between the wheel and the roadbed is intermittently zero for a long time, and the vibratory wheel and the roadbed are in a nonlinear contact state. At this time, the acceleration signal of the vibratory wheel is in a chaotic stage, and the dynamic parameters of the roadbed cannot be effectively calculated. Therefore, the dynamic parameters of the roadbed can only be identified under the condition of linear contact between the vibratory wheel and the roadbed. Thus, the identification equation of the dynamic parameters of the vibratory wheel-roadbed can be established:

[0100]

[0101] in:

[0102] Expand the displacement, velocity, acceleration, and F0sin(ωt) of the frame and vibrating wheel into Fourier series form:

[0103]

[0104]

[0105]

[0106]

[0107] Where: u 1k v 1k w 1k These are the k-th Fourier coefficients of the frame's displacement, velocity, and acceleration, respectively; u 2k v 2k w 2k f represents the k-th Fourier coefficients of the displacement, velocity, and acceleration of the vibrating wheel, respectively; k The k-th order Fourier coefficient of the excitation force;

[0108] Based on the harmonic balance principle of the vibratory wheel-subgrade coupled system response, the Fourier series expansion of the vibratory wheel-subgrade dynamic equation under any order of harmonics holds true, and the dynamic parameter identification equation of the subgrade compacted soil can be established:

[0109]

[0110]

[0111] It can be abbreviated as:

[0112] definition Let e1 and e2 be the error matrix, where e1 and e2 are the errors of the frame and the vibrating wheel, respectively.

[0113]

[0114] The sum of squares of the errors is:

[0115]

[0116]

[0117]

[0118] Solving this system of equations yields the dynamic compaction parameters of the subgrade fill soil, namely the subgrade dynamic stiffness k2 and the subgrade dynamic damping c2. After the subgrade dynamic parameter calculation module calculates the dynamic parameters of the current subgrade compaction section, it sends the current subgrade dynamic stiffness k2 and subgrade dynamic damping c2 information to the dynamic response calculation module to calculate the dynamic response of the model. At the same time, it sends this parameter set to the vibration wheel excitation parameter adjustment module. The vibration wheel excitation parameter adjustment module retrieves the corresponding vibration suppression and excitation parameter pairs from the bifurcation scatter plot data of the vehicle database based on the current subgrade dynamic parameters of the compacted subgrade section.

[0119] Step S22: Based on the vibratory roller-subgrade dynamic model established in step S21, after the subgrade dynamic parameter calculation module calculates the dynamic parameters of the current compacted subgrade section based on the vertical acceleration signal of the vibratory roller, the calculated compacted subgrade dynamic parameters are sent to the dynamic response calculation module.

[0120] The Runge-Kutta method was used to calculate the steady-state response of the vibratory wheel dynamics under the current compaction state. This steady-state response includes the vertical displacement response of the vibratory wheel. The vertical displacement signal of the vibratory wheel was sent to the vibratory wheel compaction condition judgment module and the on-board database to judge the vibration state of the vibratory wheel in the current compacted roadbed section and to draw and store the bifurcation scatter plot data. The nonlinear coupled dynamic equations solved by the Runge-Kutta method are as follows:

[0121]

[0122]

[0123] Step S3: Current Roadbed Section Vibratory Wheel Compaction Status Sensing and Judgment: The vibratory wheel compaction condition judgment module classifies the vibratory wheel compaction condition into non-vibrational, vibrational, and weakly chaotic conditions based on the vertical displacement response of the vibratory wheel and the vibratory wheel condition judgment standard; the specific process is as follows:

[0124] like Figure 4 As shown, based on the current vibration amplitude and frequency of the vibratory roller, the dynamic model response data of the vibratory roller-subgrade section—wheel-road dynamic force and vertical displacement response of the vibratory roller—is calculated. It is then determined whether a zero-point signal appears in the wheel-road dynamic force response of the vibratory roller in the current state. If no zero-point signal appears, it is a non-jumping vibration condition. If a zero-point signal appears, it is further determined whether the wheel-road dynamic force time-domain response signal is in a quasi-periodic state. If it is not in a quasi-periodic state, it is determined that the vibratory roller is in a jumping vibration compaction state; if it is in a quasi-periodic state, then... The system first determines whether the negative displacement in the time domain response value of the vertical displacement of the vibratory wheel is greater than 2mm. If the negative displacement is less than 2mm, the vibratory wheel is determined to be in a weakly chaotic vibration compaction state, which is beneficial for the middle and later stages of vibration compaction. If the negative displacement is greater than 2mm, the vibratory wheel is determined to be in a jumping vibration state. When the current state is determined to be jumping vibration compaction, the response state of the vibratory wheel is continuously recorded for 5 seconds. If the response state of the vibratory wheel is still jumping vibration after 5 seconds, the vibration wheel excitation parameter adjustment module sends the adjustment parameters to the compaction electronic control system.

[0125] Step S4: The vibratory wheel excitation parameter adjustment module estimates the optimal excitation parameters: Based on the current subgrade dynamic parameters, the current vibratory wheel excitation frequency, and the current vibratory wheel excitation amplitude, the vibratory wheel excitation parameter adjustment module uses the parameter adjustment criteria of the bifurcation scatter plot data group to screen out the optimal vibratory wheel excitation parameters under the current subgrade dynamic parameters, and sends these estimated vibratory wheel excitation parameters to the compaction electrical control system; the specific process is as follows:

[0126] When the vibratory wheel excitation parameter adjustment module receives the parameter adjustment instruction from the vibratory wheel compaction condition judgment module, it adjusts the vibratory wheel excitation parameters according to the following steps:

[0127] Based on the current dynamic stiffness parameters of the roadbed, the following criteria are used for searching the on-board database:

[0128] Rule 1: When the vibratory roller excitation parameter adjustment module receives the adjustment instructions from the current subgrade dynamic stiffness parameters and the vibratory roller compaction condition judgment module, the vibratory roller excitation parameter adjustment module first performs single-item parameter adjustment based on the current excitation parameters of the vibratory roller. That is, when the current excitation amplitude A0 of the vibratory roller is less than 1.5mm, the adjustment module only prioritizes the excitation frequency. When the current excitation frequency f of the vibratory roller is greater than 30Hz (this is based on the frequency range of most vibratory rollers; specific roller models may require adaptation, and the principle of adaptation is that the high frequency range of the model is the selected threshold), the adjustment module only prioritizes the excitation amplitude. When neither the excitation amplitude nor the excitation frequency of the vibratory roller is within the above range, the frequency parameter is adjusted first.

[0129] Criterion 2: In the later stage of vibration compaction, the vibration amplitude of the vibratory wheel should be preferred to be small. In the amplitude bifurcation scatter plot of the bifurcation scatter plot, when both are high-frequency displacement (y-axis) single point values ​​(single cycle), the excitation value with smaller amplitude should be selected first. When adjusting the vibration parameters, the selection should be gradually reduced as the current dynamic compaction stiffness of the subgrade increases.

[0130] Rule 3: In the later stage of vibration compaction, the excitation frequency of the vibratory wheel should be selected from the larger value. In the frequency bifurcation scatter plot of the bifurcation scatter plot, when there are low amplitude displacement (y-axis) single point values ​​(single cycle), the larger frequency excitation value should be selected first. When adjusting the vibration parameters, the selected value should be gradually reduced as the current dynamic compaction stiffness of the subgrade increases.

[0131] After the vibration wheel excitation parameter adjustment module adjusts the excitation parameters according to the above criteria, it sends the newly adjusted excitation parameters to the compaction electrical control system to execute the new excitation parameter values.

[0132] Step S5, Correction of the compaction state of the vibratory wheel in the compacted roadbed section: After the vibration parameters of the vibratory wheel are adjusted, the vertical displacement sensor of the vibratory wheel records the vertical displacement response signal of the vibratory wheel after the adjustment of the vibration parameters, and records the trough values ​​within 10 cycles in the steady-state signal of the vertical displacement of this section. The scatter points of the troughs within these 10 cycles are compared with the vertical coordinate values ​​(vertical displacement values ​​of the vibratory wheel) under the vibration amplitude and vibration frequency of the vibratory wheel in the vehicle database. If it is not a unit point value, the scatter point data value at this position in the vehicle database is corrected, and the original scatter point data value in the vehicle database is deleted. This is to realize the iterative update of the scatter point data in the bifurcation scatter point data map in the vehicle database, so that the vehicle database has the function of autonomous learning and iterative update.

[0133] Step S6: Store data in the vehicle database.

[0134] (I) In-vehicle database architecture layout:

[0135] like Figure 6As shown, the vehicle-mounted database includes sub-databases for different vibratory roller models. Each sub-database contains bifurcation scatter plots of dynamic parameters for different roadbed fill types. These roadbed fill types include coarse-grained soil roadbeds, multi-grained soil roadbeds, fine-grained soil roadbeds, soil roadbeds containing organic matter, and natural fill roadbeds.

[0136] (II) The dynamic stiffness grouping in the dynamic subgrade parameters is as follows:

[0137] Since the dynamic damping parameters of the subgrade change very little in the middle and late stages of compaction, and the compaction degree of the subgrade is mainly highly correlated with the dynamic stiffness of the subgrade, to ensure the feasibility of database operation, storage, and later retrieval, only the bifurcation scatter plot data group based on the dynamic stiffness of the subgrade in the middle and late stages is recorded here, that is, starting from the subgrade dynamic stiffness k2 = 6 × 10 7 N·m -1 Start recording, the increase in roadbed dynamic stiffness in each data set is k. Δ =5×10 6 N·m -1 .

[0138] (III) Charting strategy for bifurcation scatter plots:

[0139] ① Rules for determining the value of bifurcation points:

[0140] The dynamic response calculation module calculates the vertical displacement response signal of the vibrating wheel in the current roadbed section dynamic model. This vertical displacement response signal is sinusoidal. The steady-state part of the sinusoidal response signal is taken, that is, the band signal after 1000 cycles of the sinusoidal signal. The valley value data of these band signals are also taken. That is, the valley value data of each cycle valley within 5 cycles starting from 1000 cycles is recorded. This data is recorded in the bifurcation scatter plot under the excitation parameters (excitation amplitude, excitation frequency) of the vibrating wheel.

[0141] ② Recording format for bifurcation scatter plot data groups:

[0142] The bifurcation scatter plot data set mainly consists of two parts: amplitude bifurcation scatter plot data and frequency bifurcation scatter plot data. The two independent variables (excitation frequency and excitation amplitude) in the bifurcation scatter plot data set under each roadbed dynamic stiffness are calibrated according to the specifications of different types of road rollers. Taking the excitation parameter specifications of common vibratory road rollers as an example, the excitation amplitude range is (0.5mm-2.5mm, with a recording interval of 0.1mm) and the excitation frequency range is (10Hz-50Hz, with a recording interval of 1Hz). The figure below only illustrates the frequency bifurcation scatter plot data under some amplitude points and the amplitude bifurcation scatter plot data under some frequency points.

[0143] like Figure 5As shown, the first part is a scatter plot of excitation frequency bifurcation data under a certain excitation amplitude based on the current dynamic stiffness of the compacted roadbed. The independent variable in this scatter plot is the excitation frequency of the vibrating wheel. The vertical axis (peak value of the vertical displacement wave of the vibrating wheel) corresponding to the horizontal axis (excitation frequency) in the scatter plot represents single-point data or scatter plot data converging within a single-point range (0.1mm), indicating that the vibrating wheel is in a periodic compaction state or a quasi-periodic compaction state. This horizontal axis variable value (excitation frequency) is the preferred data point for parameter adjustment. When a certain horizontal axis variable value corresponds to a double or quadruple value in the vertical axis variable, it corresponds to the double bifurcation zone and quadruple bifurcation zone of the vibrating wheel's compaction period state. In this case, the horizontal axis coordinate value (excitation frequency) is not considered as a priority value for parameter adjustment. However, when there are multiple vertical coordinate values ​​corresponding to a certain horizontal axis, it indicates that the vibrating wheel is in a chaotic compaction state under this excitation parameter, which is the range we need to avoid when adjusting parameters.

[0144] Similarly, the second part is a scatter plot of excitation amplitude bifurcation data at a certain excitation frequency based on the current dynamic stiffness of the compacted roadbed. In this scatter plot, the independent variable is the excitation amplitude of the vibrating wheel. The vertical coordinate (peak value of the vertical displacement wave of the vibrating wheel) corresponding to the horizontal axis (excitation amplitude) in the scatter plot represents single-point data or scatter plot data converging within a single-point range (0.1mm), indicating that the vibrating wheel is in a periodic compaction state or a quasi-periodic compaction state. This horizontal axis variable value (excitation amplitude) is the preferred data point for parameter adjustment. When a certain horizontal axis variable value corresponds to a double or quadruple value in the vertical axis variable, it corresponds to the double bifurcation zone and quadruple bifurcation zone of the vibrating wheel's compaction period state. In this case, the horizontal axis coordinate value (excitation amplitude) is not considered as the preferred value for parameter adjustment. However, when there are multiple vertical coordinate values ​​corresponding to a certain horizontal axis, it indicates that the vibrating wheel is in a chaotic compaction state under this excitation parameter, which is the range we need to avoid when adjusting parameters.

[0145] The accuracy of the bifurcation scatter plot data under different subgrade dynamic parameters for various subgrade fill types is positively correlated with the number of data pairs in the database. When the number of bifurcation scatter plot data sets for a single subgrade fill type in the same vibratory roller model reaches more than 2000 sets, the accuracy of the vibration damping parameter values ​​estimated by the vibratory roller excitation under the dynamic stiffness of each subgrade in the later stage of compaction, which keeps the vibratory roller response within the periodic or quasi-periodic compaction state, can reach 95%. Therefore, after the system is built, a large amount of training and learning is required to increase the amount of data in the database.

[0146] To improve the efficiency of data application in the database, the database within the vibratory roller's onboard system can transmit data to a cloud-based central database via a vehicle-to-everything (V2X) system. This cloud-based central database aggregates data uploaded by various types of rollers, including data sets of bifurcation points for different types of vibratory rollers, various roadbed fill types, and their corresponding roadbed dynamic parameters. Each roller model connected to the cloud-based central database via V2X can retrieve data from the cloud-based central database using the currently used vibratory roller models in its onboard database and can download cloud data to its onboard database for use.

Claims

1. An intelligent parameter adjustment device for a vibratory roller based on the law of vibration, characterized in that: The system includes a compaction control system for a vibratory roller and vertical acceleration and displacement sensors for the vibratory roller, respectively located at the rear and front sides of the left axle end of the vibratory roller. The compaction control system is connected to a vibration frequency delivery module and a vibration amplitude delivery module. The vibration frequency delivery module transmits the vibration frequency information of the vibratory roller under the current operating condition to the compaction parameter calculation module, and the vibration amplitude delivery module transmits the vibration amplitude information of the vibratory roller under the current operating condition to the compaction parameter calculation module. The vertical acceleration sensor collects the vertical acceleration information of the vibratory roller and transmits it... A compaction parameter calculation module is provided, comprising a subgrade dynamic parameter calculation module and a dynamic response calculation module. The subgrade dynamic parameter calculation module calculates the dynamic compaction parameters of the current subgrade section, and the dynamic response calculation module calculates the response parameters of the vibratory roller's vibratory drum. The compaction parameter calculation module is connected to a vibratory drum compaction condition judgment module. This module evaluates the compaction state of the vibratory drum based on the excitation parameters of the vibratory drum and the subgrade compaction dynamic parameters under the current condition, and, in the case of a jumping vibration condition, issues a command to the vibratory drum excitation parameter adjustment module to trigger parameter adjustment. The compaction condition judgment module is connected to the vibratory wheel excitation parameter adjustment module. The compaction parameter calculation module is connected to the vibratory wheel excitation parameter adjustment module. The vibratory wheel excitation parameter adjustment module is connected to the on-board database and compares the excitation parameters of the vibratory wheel under the current working condition with the corresponding machine model, subgrade filler type, and bifurcation scatter plot data points in the on-board database to provide the optimal excitation parameters under the current working condition and send them to the compaction electronic control system. The vertical displacement sensor of the vibratory wheel collects the displacement signal of the vibratory wheel under the current working condition and transmits it to the vibratory wheel compaction state correction module. The compaction parameter calculation module and the vibratory wheel compaction state correction module... All modules are connected to the vehicle-mounted database. The compaction parameter calculation module provides the calculated dynamic compaction parameters of the subgrade to the vehicle-mounted database for data pair retrieval. After the parameter adjustment is completed, the vibratory roller compaction state correction module iteratively corrects the scatter data values ​​of the bifurcation scatter data group in the vehicle-mounted database based on the periodic signal of the steady-state response collected by the vertical displacement sensor of the vibratory roller. The vehicle-mounted database stores the excitation frequency bifurcation scatter data and excitation amplitude bifurcation scatter data of different subgrade fill types and different subgrades at each compaction stage under different types of vibratory rollers, and is connected to the cloud database through the vehicle network system.

2. The method according to claim 1, wherein the method is characterized by: Includes the following steps: Step S1: Sensing the dynamic information of the compaction state of the vibratory wheel in the compacted roadbed section and feeding it back to the compaction parameter calculation module. The dynamic information of the compaction state of the vibratory wheel in the compacted roadbed section includes the vibration amplitude, vibration frequency, acceleration and vertical displacement of the vibratory wheel obtained through the vibration amplitude reporting module, the vibration frequency reporting module, the vertical acceleration sensor and the vertical displacement sensor of the vibratory wheel. Step S2: The compaction parameter calculation module calculates the dynamic compaction parameters of the current compacted subgrade section: Based on the established dynamic model of the vibratory roller-subgrade, the vertical acceleration signal of the vibratory roller is integrated, and the dynamic compaction parameters of the subgrade of the current compacted subgrade section are calculated by the subgrade dynamic parameter calculation module. The calculated dynamic compaction parameters of the subgrade are sent to the dynamic response calculation module to calculate the vertical displacement response of the vibratory roller in the dynamic model. The vertical displacement response of the vibratory roller is then sent to the vibratory roller compaction condition judgment module, the vibratory roller excitation parameter adjustment module, and the vehicle database. Step S3: Current roadbed section vibratory wheel compaction status perception and judgment: The vibratory wheel compaction condition judgment module classifies the vibratory wheel compaction condition into non-jumping vibration, jumping vibration, and weakly chaotic conditions based on the vertical displacement response of the vibratory wheel and the vibratory wheel condition judgment standard. Step S4: The vibration wheel excitation parameter adjustment module estimates the optimal excitation parameters: Based on the current subgrade dynamic parameters, the current vibration wheel excitation frequency, and the current vibration wheel excitation amplitude, the vibration wheel excitation parameter adjustment module screens out the optimal vibration wheel excitation parameters under the current subgrade dynamic parameters according to the parameter adjustment criteria of the bifurcation scatter data chart group, and sends these estimated vibration wheel excitation parameters to the compaction electrical control system. Step S5, Correction of the compaction state of the vibratory wheel in the compacted roadbed section: After the vibration parameters of the vibratory wheel are adjusted, the vertical displacement sensor of the vibratory wheel records the vertical displacement response signal of the vibratory wheel after the adjustment of the vibration parameters, and records the trough values ​​within 10 cycles in the vertical displacement response signal of this section. The scatter points of the troughs within 10 cycles are compared with the vertical displacement values ​​of the vibratory wheel under the vibration amplitude and vibration frequency of the vibratory wheel in the vehicle database. If it is not a unit point value, the scatter point data value at this position in the vehicle database is corrected and the original scatter point data value in the vehicle database is deleted. In this way, the scatter point data in the bifurcation scatter point data map in the vehicle database is iteratively updated, so that the vehicle database has the function of autonomous learning and iterative updating. Step S6: Store data in the vehicle database.

3. The intelligent parameter adjustment method for a vibratory roller based on the jump rule according to claim 2, characterized in that: The specific steps of step S2 are as follows: Step S21: Build a dynamic model of the vibratory roller-subgrade and calculate the dynamic compaction parameters of the subgrade based on the response speed signal of the vibratory roller according to the principle of balance of each harmonic component. Step S22: Based on the vibratory roller-subgrade dynamic model established in step S21, after the subgrade dynamic parameter calculation module calculates the dynamic parameters of the current compacted subgrade section based on the vertical acceleration signal of the vibratory roller, the calculated compacted subgrade dynamic parameters are sent to the dynamic response calculation module.

4. The intelligent parameter adjustment method for a vibratory roller based on the jump rule according to claim 3, characterized in that: The dynamic model of the vibratory roller-subgrade in step S21 is as follows: Establish the dynamic equations based on the static equilibrium point: （1） ; In the formula: , The mass and displacement of the upper frame of the road roller; and For the stiffness and damping of the vibration damper between the frame and the vibrating wheel; , The mass and displacement of the vibrating wheel; , For the mass and displacement of the roadbed; and For the stiffness and damping of the roadbed; , The excitation force of the vibrating wheel and the rotational angular velocity of the eccentric block; , The excitation amplitude and excitation frequency of the vibrating wheel; The dynamic force is the force exerted by the vibrating wheel in contact with the ground. , , The speed of the frame, vibrating wheel, and roadbed; , , The accelerations of the frame, vibrating wheel, and roadbed; When a vibratory roller comes into contact with the material being compacted, there exists ,but , By eliminating , , The dynamic force equation of the wheel-road system when grounded can be obtained as follows: （2） When the vibratory wheel bounces, there is a situation where the vibratory wheel and the roadbed are not in contact; at this time, there is no mechanical relationship between the two. Therefore, it can be concluded that when the vibratory wheel jumps away from the compacted roadbed surface, a contact nonlinearity phenomenon will occur. In summary, the piecewise nonlinear function equation of the wheel-road dynamic force is: (3) When the compaction condition of the vibratory roller is a jumping vibration condition, that is, the dynamic force between the wheel and the roadbed is intermittently zero for a long time, and the vibratory wheel and the roadbed are in a nonlinear contact state. At this time, the acceleration signal of the vibratory wheel is in a chaotic stage, and the dynamic parameters of the roadbed cannot be effectively calculated. Therefore, the dynamic parameters of the roadbed can only be identified under the condition of linear contact between the vibratory wheel and the roadbed. Thus, the identification equation of the dynamic parameters of the vibratory wheel-roadbed can be established: （4） wherein: ; ; ; ; ; ; . The displacement, velocity, acceleration and Expanding into Fourier series form: ; ; （5） （6） （7） （8） in: , , , respectively, are the k-th Fourier coefficients of the frame's displacement, velocity, and acceleration; , , , respectively, are the k-th Fourier coefficients of the displacement, velocity, and acceleration of the vibrating wheel; The k-th order Fourier coefficient of the excitation force; Based on the harmonic balance principle of the vibratory wheel-subgrade coupled system response, the Fourier series expansion of the vibratory wheel-subgrade dynamic equation under any order of harmonics holds true, and the dynamic parameter identification equation of the subgrade compacted soil can be established: （9） （10） may be abbreviated as: (11) Definitions is an error matrix, , are errors of the gantry and the vibrating wheel, respectively; （12） The sum of squares of the errors is: （13） （14） （15） Solving this system of equations yields the dynamic compaction parameters of the subgrade fill soil, i.e., the dynamic stiffness of the subgrade. dynamic damping of roadbed After the subgrade dynamic parameter calculation module calculates the dynamic parameters of the current subgrade compaction section, the dynamic stiffness of the current subgrade is... and roadbed dynamic damping The information is sent to the dynamic response calculation module to calculate the dynamic response of the model. At the same time, the parameter set is sent to the vibration wheel excitation parameter adjustment module. The vibration wheel excitation parameter adjustment module retrieves the corresponding vibration suppression and excitation parameter pairs from the bifurcation scatter plot in the vehicle database based on the current dynamic parameters of the compacted subgrade section.

5. The intelligent parameter adjustment method for a vibratory roller based on the jump rule according to claim 4, characterized in that: In step S22, the Runge-Kutta method is used to calculate the steady-state response of the vibratory wheel dynamics under the current compaction state. This steady-state response includes the vertical displacement response of the vibratory wheel. The vertical displacement signal of the vibratory wheel is sent to the vibratory wheel compaction condition judgment module and the vehicle-mounted database to judge the vibration state of the vibratory wheel in the current compacted roadbed section and to draw and store the bifurcation scatter plot data. The nonlinear coupled dynamic equations calculated using the Runge-Kutta method are as follows: 。 6. The intelligent parameter adjustment method for a vibratory roller based on the jump rule according to claim 5, characterized in that: In step S3, the dynamic model response data of the vibratory roller-subgrade system for the current subgrade section—wheel-road dynamic force and vertical displacement response of the vibratory roller—is calculated based on the current vibration amplitude and frequency of the vibratory roller. It is then determined whether a zero-point signal appears in the wheel-road dynamic force response of the vibratory roller in the current state. If no zero-point signal appears, it is a non-jumping vibration condition. If a zero-point signal appears, it is further determined whether the wheel-road dynamic force time-domain response signal is in a quasi-periodic state. If it is not in a quasi-periodic state, it is determined that the vibratory roller is in a jumping vibration compaction state; if it is in a quasi-periodic state… The system then further determines whether the negative displacement in the time domain response value of the vertical displacement of the vibratory wheel is greater than 2mm. If the negative displacement is not greater than 2mm, the vibratory wheel is determined to be in a weakly chaotic vibration compaction state, which is beneficial to the mid-to-late stage of vibration compaction. If the negative displacement is greater than 2mm, the vibratory wheel is determined to be in a jumping vibration state. When it is determined that the current state is jumping vibration compaction, the response state of the vibratory wheel is continuously recorded for 5 seconds. If the response state of the vibratory wheel is still jumping vibration after 5 seconds, the vibration wheel excitation parameter adjustment module sends the adjustment parameters to the compaction electronic control system.

7. The intelligent parameter adjustment method for a vibratory roller based on the jump rule according to claim 6, characterized in that: In step S4, after the vibratory wheel excitation parameter adjustment module receives the parameter adjustment instruction from the vibratory wheel compaction condition judgment module, it adjusts the vibratory wheel excitation parameters according to the following steps and strategies. Based on the current dynamic stiffness parameters of the roadbed, the following criteria are used for searching the on-board database: Rule 1: When the vibratory roller excitation parameter adjustment module receives the adjustment instructions from the current subgrade dynamic stiffness parameters and the vibratory roller compaction condition judgment module, the vibratory roller excitation parameter adjustment module first performs single-item parameter adjustment based on the current excitation parameters of the vibratory roller. That is, when the current excitation amplitude A0 of the vibratory roller is less than 1.5mm, the adjustment module only searches and adjusts the excitation frequency; when the current excitation frequency of the vibratory roller is greater than the high frequency setting value of the roller, the adjustment module only searches and adjusts the excitation amplitude; when neither the excitation amplitude nor the excitation frequency of the vibratory roller is within the above range, frequency parameter adjustment is performed. Guideline 2: In the later stage of vibration compaction, the vibration amplitude of the vibratory wheel should be selected from a small value. In the amplitude bifurcation scatter plot of the bifurcation scatter plot, when both are high-frequency displacement single-point values, the excitation value with a smaller amplitude should be selected. When adjusting the vibration parameters, the amplitude should be gradually reduced as the dynamic compaction stiffness of the current subgrade increases. Rule 3: In the later stage of vibration compaction, the excitation frequency of the vibratory wheel should be selected from the larger value. In the frequency bifurcation scatter plot of the bifurcation scatter plot, when the single point value of the displacement is the same with low amplitude, the excitation value of the larger frequency should be selected. When adjusting the jumping vibration parameters, the frequency should be gradually increased as the dynamic compaction stiffness of the current subgrade increases. After the vibration wheel excitation parameter adjustment module adjusts the excitation parameters according to the above criteria, it sends the newly adjusted excitation parameters to the compaction electrical control system to execute the new excitation parameter values.

8. The intelligent parameter adjustment method for a vibratory roller based on the jump rule according to claim 2, characterized in that: In step S6, the vehicle-mounted database contains data sub-databases for different vibratory roller models. Each data sub-database contains bifurcation scatter plots of dynamic parameters for different roadbed fill types. The roadbed fill types include coarse-grained soil roadbed, multi-grained soil roadbed, fine-grained soil roadbed, soil roadbed containing organic matter, and natural fill roadbed.

9. The intelligent parameter adjustment method for a vibratory roller based on the jump rule according to claim 2, characterized in that: In step S6, the bifurcation scatter plot data set recorded in the vehicle-mounted database is derived from the roadbed dynamic stiffness. Start recording; the increase in subgrade dynamic stiffness in each data set is... The bifurcation scatter plot data set selection rules are as follows: The dynamic response calculation module calculates the vertical displacement response signal of the vibrating wheel in the current roadbed section dynamic model. The vertical displacement response signal is sinusoidal. The steady-state part of the sinusoidal response signal is taken, that is, the band signal after 1000 cycles of the sinusoidal signal. The valley value data of these band signals are taken, that is, the valley value data of each cycle valley within 5 cycles starting from 1000 cycles, and the data is recorded in the bifurcation scatter plot data diagram under the excitation amplitude and excitation frequency of the vibrating wheel.

10. The intelligent parameter adjustment method for a vibratory roller based on a jump rule according to claim 9, characterized in that: The record format of the bifurcation scatter plot data group in the vehicle database in step S6 is as follows: The bifurcation scatter plot data set consists of two parts: excitation amplitude bifurcation scatter plot data set and excitation frequency bifurcation scatter plot data set. In the bifurcation scatter plot data set, the horizontal axis represents the excitation frequency of the vibrating wheel, and the vertical axis represents the trough value of the steady-state response signal of the vertical displacement of the vibrating wheel. The excitation frequency and excitation amplitude of the vibrating wheel in the bifurcation scatter plot data set corresponding to the dynamic stiffness of the roadbed are calibrated according to the specifications of different types of road rollers. Based on the current dynamic stiffness of the compacted roadbed, the excitation frequency bifurcation scatter plot under a certain excitation amplitude is used. The vertical axis corresponding to the horizontal axis in the bifurcation scatter plot is a single point data or a scatter plot data that converges to a certain single point range, which represents the vibratory wheel in a periodic compaction state or a quasi-periodic compaction state. This horizontal axis variable value is the data point that needs to be selected first for parameter adjustment. When a certain horizontal axis variable value corresponds to a double or four-value vertical axis variable, it corresponds to the double bifurcation zone and the four-bifurcation zone of the compaction period state of the vibratory wheel. At this time, the horizontal axis coordinate value is not used as the selection range of the parameter adjustment priority value. However, when there are multiple vertical coordinate values ​​corresponding to a certain horizontal axis, it means that the vibratory wheel is in a chaotic compaction state under this excitation parameter. At this time, the horizontal axis coordinate value is the range to be avoided when adjusting the parameters. Based on the excitation amplitude bifurcation scatter plot at a certain excitation frequency under the current dynamic stiffness of the compacted roadbed, the independent variable of the bifurcation scatter plot is the excitation amplitude of the vibrating wheel. The vertical axis corresponding to the horizontal axis in the bifurcation scatter plot represents single-point data or scatter data converging within a certain single-point range, indicating that the vibrating wheel is in a periodic compaction state or a quasi-periodic compaction state. This horizontal axis variable value is the data point that needs to be selected first for parameter adjustment. When a certain horizontal axis variable value corresponds to a double or four-value vertical axis variable, it corresponds to the double bifurcation zone and the four bifurcation zone of the vibrating wheel compaction period state. At this time, the horizontal axis coordinate value is not used as the selection range of the parameter adjustment priority value. However, when there are multiple vertical coordinate values ​​corresponding to a certain horizontal axis, it indicates that the vibrating wheel is in a chaotic compaction state under this excitation parameter. At this time, the horizontal axis coordinate value is the range to be avoided.

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