A method for pressure servo adjustment and lifting monitoring system for a roadbed diversion grouting device

Abstract

This invention discloses a pressure servo adjustment method and lifting monitoring system for a roadbed diversion grouting device, belonging to the field of roadbed grouting technology. It includes a setting program for setting grouting parameters for each grouting branch pipe; a data acquisition program for acquiring monitoring parameters of the grouting process for each branch pipe; and a pressure adjustment program for adjusting the current motor power of the diversion pump based on the initial grouting pressure value P1, so that the actual grouting pressure value P2 is within the error range of the pressure target value P0. This invention achieves individual adjustment of the grout pressure of each grouting branch pipe by acquiring the grouting pressure data of the main pipe and each branch pipe, constructing a model for adjusting the pump motor power based on the branch pipe grouting pressure data, and then combining this with a preset threshold.

Description

Technical Field

[0001] This invention relates to the field of roadbed grouting technology, and in particular to a pressure servo adjustment method for a roadbed diversion grouting device. Background Technology

[0002] Uneven settlement of the roadbed is a common problem in road engineering, and grouting to raise the roadbed is currently a key technology for treating this problem. Existing roadbed grouting technologies are divided into constant flow grouting and constant pressure grouting. Constant pressure grouting uses a constant grouting pressure, requiring minimal pressure fluctuations during the grouting process and precise control of the grouting equipment's pressurization effect on the grout. However, in actual construction, different geological conditions and varying grout diffusion patterns cause changes in the grouting pressure within the pipe as the grout diffuses. To address this issue, scholars both domestically and internationally have conducted extensive research and proposed a series of constant pressure grouting devices. However, existing constant pressure devices often use a single main grouting pump paired with a single grouting pipe. When performing simultaneous grouting at multiple holes, several sets of constant pressure grouting equipment need to be prepared simultaneously, increasing grouting costs. If direct connection to branch pipes is used for multi-hole grouting, pressure changes in each branch pipe will cause changes in the grouting pressure and grout flow rate in other branch pipes under the same main pipe, and the process is uncontrollable, resulting in a problem of inconsistent grouting pressure. Summary of the Invention

[0003] The purpose of this invention is to address the above-mentioned problems by providing a pressure servo adjustment method for a roadbed diversion grouting device, which can individually adjust the grout pressure of each grouting branch pipe.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A pressure servo adjustment method for a roadbed diversion grouting device, wherein the grouting slurry of the diversion grouting device is diverted into at least two grouting branch pipes through the main grouting pipe under the action of the main grouting pump, and then output after pressure adjustment by the diversion pumps installed on the grouting branch pipes; the pressure servo adjustment method includes the following:

[0006] Program setup: Set the grouting parameters for each grouting branch pipe; the grouting parameters include the number of grouting branch pipes, the target grouting pressure P0 for the branch pipe, and the grouting flow rate Q corresponding to the target pressure P0. The grouting flow rate Q is obtained by combining the flow rate and pressure characteristic curve of each diversion pump under the grouting branch pipe with the target grouting pressure P0.

[0007] Data Acquisition Procedure: During the grouting process through at least two branch pipes, the monitoring parameters of the grouting process of each branch pipe are acquired; the monitoring parameters include the initial grouting pressure value P1 and the actual grouting pressure value P2 of the branch pipe;

[0008] Pressure regulation program: Used to adjust the current motor power of the diversion pump based on the initial grouting pressure value P1, so that the actual grouting pressure value P2 is within the error range of the pressure target value P0; details are as follows:

[0009] Calculate the pressure compensation value ΔP = P0 - P1 required after the grout enters the current grouting branch pipe, and determine whether it is within the threshold range. Then perform the operation described below.

[0010] If ΔP is within the threshold range, the corresponding diverter pump will stop operating, and the current pressure regulation process will end. The program will then return to the acquisition program to execute the next pressure regulation process.

[0011] If ΔP is outside the threshold range and is less than zero, control the grouting main pump to reduce its operating speed and reduce the grouting pressure in the main pipe, and return to the acquisition program to continue the pressure regulation process.

[0012] If ΔP is outside the threshold range and is greater than zero, then calculate the motor power A required for the corresponding diverter pump to reach the pressure compensation value based on the pressure compensation value ΔP and the flow rate Q, and compare it with its maximum value A. max Compare and determine whether the boost pressure limit has been reached, and then perform the following operations;

[0013] If A < A max Then, based on the branch pipe pressure values ​​P1 and P2 and the flow rate Q, calculate the current motor power A of the corresponding diversion pump. n And adjust the current motor power of the diversion pump so that A n =A, then end the current pressure regulation process and return to the data acquisition program to execute the next pressure regulation process;

[0014] If A≥A max If the main grouting pump has reached its pressure limit, then the main grouting pump is controlled to increase its operating speed to increase the grouting pressure in the main pipe, and the process is returned to the data acquisition program to continue the pressure regulation process; if the main grouting pump has reached its pressure limit, then the number of grouting branch pipes is reduced, the grouting parameters are updated in the setting program, the number of grouting branch pipes is reduced by 1, and the pressure regulation process is continued.

[0015] In the pressure regulation process, the formula for calculating the required motor power A of the diverter pump is:

[0016]

[0017] Current motor power A of the diversion pump n The calculation formula is:

[0018]

[0019] The formula for calculating the power difference of the adjustable motor required for the diverter pump is:

[0020]

[0021] In the formula, k is the density ratio of grouting material to water, Q is the grouting flow rate corresponding to the preset grouting pressure target value, η1 is the shaft efficiency, and η2 is the motor efficiency.

[0022] Based on the aforementioned scheme, in order to improve the accuracy of road surface uplift monitoring by providing timely early warnings, an improved scheme further includes a road surface uplift monitoring program: used to predict the road surface uplift value B in the next time step based on the standard value b of road surface uplift and the time step t. i+1 Monitoring B i+1 The road surface uplift is within the target value b0 threshold range; the grouting parameters set in the program also include the target value b0 for road surface uplift at the grouting point and the time step t; the monitoring parameters of the data acquisition program also include the standard value b for road surface uplift at the grouting point. The specific contents of this road surface uplift monitoring program are as follows:

[0023] Based on the standard value of road surface uplift b and the time step t, calculate the standard increment of road surface uplift Δb within each time step, and predict the predicted value of road surface uplift B in the next time step. i+1 Road surface lift prediction value B i+1 The formula for calculation is:

[0024] B i+1 =b i +Δb i

[0025] Δb i =|b i -b i-1 |

[0026] In the formula, b i Let Δb be the standard value of road surface lift at time step i. i B represents the standard increment of surface uplift within the i-th time step. i+1 This is the predicted road surface rise at time i+1;

[0027] B i+1 Compare with b0 to determine B. i+1 Is it within the b0 threshold range? 0.1 b 0.2 Within ]; if so, the road surface lift monitoring process ends; if B i+1 <b 0.1 Then the current road surface lift monitoring process ends, and the process returns to execute the next road surface lift monitoring process; if B i+1 >b 0.2 If the information is deemed abnormal, an alarm will be issued, and the process will then return to execute the next road surface lifting monitoring procedure.

[0028] Since the aforementioned solution may have a relatively long preset time step based on reducing equipment processing resources, an improved solution further divides the time step for issuing the final alert into smaller time intervals to further improve the accuracy of the alert time. The road surface rise monitoring program also includes the following:

[0029] Between identifying an abnormal message and resuming the next road surface lift monitoring procedure, the following operations are performed:

[0030] Determine whether to manually adjust the time step t;

[0031] Otherwise, return to execute the next road surface lift monitoring process;

[0032] If so, the system receives the user's updated setting time step t1, then determines whether t1 meets the correction conditions. If it does, the system is deemed to have a normal command and returns to the setting program to update the grouting parameters and continue the road surface lifting monitoring process. Otherwise, the system is deemed to have a abnormal command and returns to receive the user's updated setting time step t1. The time step correction condition is that t1 is an integer multiple of the b acquisition time interval and t1 is less than t.

[0033] To address the issue of limited overall pressurization capacity, an improved scheme reduces the number of grouting branch pipes in the pressure regulation program as follows: The differences between the standard road surface lift value *b* and the target value *b0* corresponding to each grouting branch pipe currently undergoing grouting are ranked. The grouting branch pipe with the largest difference is selected as the target, and grouting operation is stopped for that branch pipe. Prioritizing the grouting point with the largest difference as the stop target allows for longer monitoring and control during subsequent re-grouting, improving lift accuracy.

[0034] By adopting the above technical solution, the present invention has the following beneficial effects:

[0035] 1. This invention obtains the grouting pressure data of the main pipe and the grouting pressure data of each branch pipe, and constructs a power model of the motor of the branch pipe grouting pressure regulating pump. Then, it adjusts the pressure by combining the preset threshold, which can realize the individual adjustment of the grout pressure of each grouting branch pipe.

[0036] 2. This invention obtains the standard value of the rise of each road grouting point, and then combines it with the rise data of the previous time step to make predictions. It can determine in advance whether the current operation can continue and whether it will cause the road grouting point to rise too high. It can then remind the operator to pay attention to stop grouting and complete the grouting operation in the next time step, or remind the operator to adjust the time step in time to further improve the accuracy of the reminder time, which is conducive to improving the accuracy of the rise of the road grouting point. Attached Figure Description

[0037] Figure 1 This is a flowchart of the adjustment method of the present invention.

[0038] Figure 2 This is a schematic diagram of the diversion device structure of the present invention.

[0039] Figure 3 This is a block diagram of the servo control system of the present invention.

[0040] Figure 4 This is a logic diagram of the servo adjustment method of the present invention.

[0041] Figure 5 This is a flowchart of the monitoring system operation of the present invention. Detailed Implementation

[0042] The specific implementation of the invention will be further described below with reference to the accompanying drawings.

[0043] like Figure 1 As shown, Embodiment 1 of the pressure servo adjustment method for a roadbed diversion grouting device of the present invention includes a setting program, a data acquisition program, and a pressure adjustment program. Embodiment 2 of the pressure servo adjustment method for a roadbed diversion grouting device of the present invention includes a setting program, a data acquisition program, and a pavement uplift monitoring program. Embodiment 3 of the pressure servo adjustment method for a roadbed diversion grouting device of the present invention includes a setting program, a data acquisition program, a pressure adjustment program, and a pavement uplift monitoring program. The pressure adjustment program forms a pressure adjustment system, and the pavement uplift monitoring program forms an uplift monitoring system. Either the pressure adjustment system or the uplift monitoring system can be built and used independently, or they can be combined into a single system. In Embodiment 3, the pressure adjustment program and the pavement uplift monitoring program perform data acquisition and processing operations according to their respective time intervals. Specifically, in one example, the pressure adjustment program and the pavement uplift monitoring program can start simultaneously; in another example, the pressure adjustment program can be executed first, followed by the pavement uplift monitoring program; and in yet another example, the pavement uplift monitoring program can be executed first, followed by the pressure adjustment program. The grouting parameters and monitoring parameters in each embodiment are different. Each embodiment can be combined with the aforementioned features in the invention content according to the actual engineering needs. The following will be a detailed description of Embodiment 3, which combines all the aforementioned features.

[0044] See Figures 1-5 The present invention provides a method for servo-regulating the pressure of a roadbed diversion grouting device, which is based on a roadbed grouting pressure servo-controlled diversion device monitoring system.

[0045] like Figure 2As shown, this roadbed diversion grouting device achieves diversion through a pressure servo-controlled diversion device. The pressure servo-controlled diversion device consists of a diversion device, a main pipe pressure sensor, branch pipe pressure sensors, branch pipe flow meters, and throttling valves. The diversion device has a main grouting pipe inlet and five diversion branch pipes (grouting branch pipes). A diversion pump 23 (fixed by a fixing plate 3) is installed on each branch pipe to control the flow rate of the grout in the branch pipe, ensuring that the pressure of the diverted grout reaches a preset value and that only the branch pipe outlet 22 is reached. The main pipe pressure sensor is placed inside the main pipe acquisition device 11, which is located at the main grouting pipe and is used to monitor the pressure of the grout after it has been pressurized and transported by the main grouting pump. Branch pipe acquisition device a (21) is equipped with a branch pipe pressure sensor and a branch pipe flow meter (added as needed) and is set before the diversion pump to monitor the initial grouting pressure of the grouting main pipe diverting to each branch pipe. Branch pipe acquisition device b (21) integrates a branch pipe pressure sensor and a branch pipe flow meter (added as needed) and is set at the outlet of the branch pipe to monitor the final grouting pressure and grouting flow rate of the grout flowing into the grouting pipeline after pressure compensation. A flow limiting valve is set at the outlet of each branch pipe. The number of effective branch pipes can be adjusted by adjusting the opening and closing state of the throttle valve. In addition, the flow control valve can be used to achieve flow control under constant grouting pressure by adjusting the valve state. Among them, the main pipe acquisition device, branch pipe acquisition devices a and b, grouting main pump, diversion pump and throttle valve and their control are all existing technologies and will not be described in detail here; the present invention mainly improves the adjustment method.

[0046] The working principle of the diversion-type roadbed grouting pressure stabilization device is as follows: Before the grouting work begins, the opening state of the flow-limiting valve is adjusted according to the designed number of grouting holes to adjust the effective number of diversion branch pipes. During the grouting process, the grout is pressurized by the main grouting pump and then transported through the main grouting pipe. The data acquisition device 1 collects the real-time grouting pressure of the main grouting pipe through a pressure sensor. After the grout is transported to the diversion device through the main pipe, it flows into the branch pipe to achieve the diversion effect. However, after diversion, the grout flowing from the main pipe into the diversion branch pipe will cause pressure attenuation. The actual value after pressure attenuation is the initial grouting pressure of the branch pipe, which is measured by the data acquisition device a. i (a i This refers to the reading from the i-th branch pipe, denoted as P1. At this time, the control motor changes the impeller speed inside the branch pipe to compensate for the pressure of the slurry flowing through it. The pressure compensation is achieved by the centrifugal force generated when the impeller rotates, driving the slurry to rotate and gain more kinetic and pressure energy, so that the grouting pressure of the slurry finally flowing out of the grouting branch pipe reaches the preset value. The pressure flowing out of the branch pipe is the actual grouting pressure of the branch pipe, as measured by the acquisition device b. i The data collection is denoted as P2.

[0047] like Figure 3 As shown, the roadbed grouting pressure servo control diversion monitoring system includes a pressure servo control diversion device, a sub-feedback module, a main receiving module, a main processing module, and a main display module.

[0048] Sub-feedback module: Composed of pressure sensor P1, pressure sensor P2, branch pipe flow meter F1 (can be added as needed), and road surface lift displacement detector. It is used sequentially to collect information on the grouting pressure of the main grouting pipe, the initial grouting pressure of the branch pipes, the actual grouting pressure and flow rate of the branch pipes, and changes in road surface lift at the grouting points during the grouting process. The collected information is then fed back to the main receiving module.

[0049] Main receiving module: Used to receive data from each sub-feedback module and send it to the main processing module.

[0050] The main processing module's functions include processing the data acquired by the main receiving module, setting security thresholds for important monitoring information, receiving and reading the characteristic curves of the diversion-type roadbed grouting and pressure stabilizing device input by the user, identifying abnormalities in the working status of the grouting branch pipes and user adjustment commands, independently controlling each grouting branch pipe, and receiving correction commands from the user for abnormalities that occur during the grouting process.

[0051] Main display module: Provides a visual interface to display grouting information of each grouting branch in real time, alerts to abnormal status of each grouting branch, and abnormal commands set by the user.

[0052] After grouting begins, the road surface lift displacement detector collects information on the road surface lift. The main processing module calculates the road surface lift trend and determines the time point when the difference between the monitoring point and the target reaches the preset threshold based on the lift trend. Within one calculation step before this time point, the user is alerted to modify the grouting volume.

[0053] like Figure 4 As shown, the pressure servo adjustment method works as follows: During grouting, the grouting pressure in the branch pipe will fluctuate due to changes in grout diffusion. When the fluctuation range becomes too large, exceeding the preset threshold, the pressure servo adjustment method is used to stabilize the flow and ensure a constant grouting pressure. The pressure servo adjustment method has two adjustment modes:

[0054] The first adjustment mode is that the grouting pressure adjustment of the grouting branch pipe can be completed as long as the pressure adjustment does not exceed the capacity limit of the compensation module, that is, the impeller speed controlled by the motor does not reach the limit. At this time, the diversion device adjusts the impeller speed n by changing the motor power to change the grouting pressure in the diversion branch pipe to reach the preset value.

[0055] The specific adjustment process is as follows: Data acquisition device a i The initial grouting pressure P1 of each branch pipe is read, and the processing module reads the characteristic curve of the diversion type roadbed grouting pressure stabilizing device to calculate the flow rate Q when the target pressure compensation value is reached.

[0056] Chinese patent application number 201810287299.1 discloses an online pipeline flow detection method that does not rely on a flow meter, and its calculation model is as follows:

[0057]

[0058] In the above formula, W input H is the water power, Q is the pump head, ρ is the water flow rate, g is the acceleration due to gravity, and η is the shaft power. pump For pump efficiency, W motor For motor power, η motor For motor efficiency, η vfd For inverter efficiency.

[0059] Based on the reference formula (1), this invention calculates the relationship between the motor's torque, power, and speed:

[0060]

[0061] A is the motor power, T is the torque, n is the speed, and η2 is the motor efficiency.

[0062] The calculation relationship between shaft rotation speed and grouting pressure was derived:

[0063]

[0064] Where n is the shaft rotation speed, k is the density ratio of grout material to water, Q is the grout flow rate corresponding to the preset grouting pressure, A is the motor power, T is the torque, and η1 is the shaft efficiency.

[0065] The required pressure compensation value ΔP = P0 - P1 after the grout enters the branch pipe is calculated, where P0 is the preset grouting pressure target value. The required shaft rotation speed for pressure compensation can be calculated using equation (3). In equation (3), the value of k is obtained from actual experiments. By obtaining the density of the grout to be injected, the density is compared with that of pure water (1000 kg / m³). 3 The ratio can be obtained, and Q is obtained from the characteristic curve of the diversion-type roadbed grouting and pressure stabilizing device. This curve was obtained from the test during the production of the device and mainly reflects the relationship between the grouting pressure compensation value ΔP and the flow rate. Torque T and shaft efficiency η1 are both inherent parameters of the device and were obtained from the test during production.

[0066] After calculating the required shaft for pressure compensation using equation (3), the motor power required to achieve the calculated pressure compensation value can be calculated. The required motor power calculation formula is derived by combining equations (2) and (3):

[0067]

[0068] Calculate the current motor power An :

[0069]

[0070] By changing the current motor power to achieve the actual required motor power, the grouting pressure can be adjusted to reach the target value. The amount of motor power change is derived by combining equations (4) and (5):

[0071]

[0072] The second adjustment mode is when the pressure compensation module in the diversion device reaches its compensation capacity limit, but the grouting pressure in the branch pipe still does not reach the set grouting pressure value. This compensation capacity limit has two scenarios: one is ΔP = P0 - P1 < 0, in which case the initial pressure value P1 of the grouting branch pipe is greater than the target pressure value P0, and the motor cannot reverse to reduce the grouting pressure in the branch pipe. In this case, the main grouting pump needs to appropriately reduce the grouting pressure in the main grouting pipe so that ΔP is within the compensation capacity limit of the diversion device. The other scenario is when the motor power reaches its maximum power and cannot continue to increase the shaft speed. In this case, the main grouting pump changes its boosting capacity to boost the grouting pressure in the main grouting pipe, and then the first adjustment mode of the pressure servo adjustment method changes the grouting pressure in the branch pipe. It should be noted that when the boosting capacity of the main grouting pump reaches its limit, the number of effective grouting branch pipes can be appropriately reduced by adjusting the opening and closing of the flow limiting valve, and then the pressure servo adjustment can be performed using the diversion-type roadbed grouting pressure stabilizing device. Figure 4 Taking ΔP greater than 0, equal to 0, and less than 0 as examples, in actual engineering design, as described in the aforementioned scheme, P0 can have an allowable error range, and the value of ΔP can be divided and compared based on whether it falls within or outside its safety threshold range.

[0073] The specific workflow of the split-flow servo control method is as follows:

[0074] (1) Before the grouting construction is carried out, the main processing module guides the user to preset the safety threshold of important monitoring information such as the calculation time step and the design grouting pressure. The main processing module guides the user to input the characteristic curve of the diversion type roadbed grouting pressure stabilizing device.

[0075] (2) During the grouting construction, the sub-feedback module begins to collect key information of each grouting branch pipe during the grouting process. The key information includes the flow rate of each grouting branch pipe, the grouting pressure of the main grouting pipe, the initial grouting pressure of the grouting branch pipe, and the actual grouting pressure of the grouting branch pipe.

[0076] (3) The sub-feedback module sends the collected information to the main receiving module;

[0077] (4) The main receiving module receives information sent by each sub-feedback module and sends it to the main processing module;

[0078] (5) The main processing module receives the initial grouting pressure of each grouting branch pipe, calculates the pressure compensation value ΔP=P0-P1, calculates the required motor power, and sends the command to the diversion type roadbed grouting pressure stabilizing device for corresponding adjustment.

[0079] (6) The main processing module can also receive the flow data of each grouting branch pipe, calculate the average value of the first type of data in each step according to the calculation time step, and the product of the average value of the first type of data in each step and the step length is the grouting volume at the current moment. The grouting volume at the current moment is sent to the main display module.

[0080] The formula for calculating the grouting volume at the current moment is:

[0081]

[0082] Q t This represents the grouting volume at the current moment. The flow rate is the average within the i-th time step, where t is one time step. (This grouting flow rate calculation is one method for obtaining this data in engineering projects. If an engineering project requires statistical analysis of the grouting volume, this method can be used. It is not considered a key function of this invention.)

[0083] (7) During grouting construction, existing construction methods such as total station monitoring are used to measure the road surface uplift, and this data is input into the main processing module. Based on the calculation time step, the increment of the standard value of road surface uplift within each step is calculated, and the predicted value B of road surface uplift within the next time step is predicted. i+1 ;

[0084] The calculation formula is:

[0085] B i+1 =b i +Δb i

[0086] Δb i =|b i -b i-1 |

[0087] b i Let Δb be the standard value of road surface uplift at time step i. i B represents the standard value increment of the surface uplift within the i-th time step. i+1 This is the predicted value of road surface lift at time i+1.

[0088] (8) The main processing module determines whether the grouting pressure of the main grouting pipe, the actual grouting pressure of the branch grouting pipe, and the predicted value of the road surface lift at time i+1 are within the safe threshold range. Information outside the threshold range is recorded as abnormal information and sent to the main display module.

[0089] (9) The main display module provides a visual interface to display the real-time grouting information of each grouting branch pipe and to highlight the abnormal information sent by the main processing module.

[0090] (10) When the grouting pressure becomes abnormal due to changes in grout diffusion, the main processing module will automatically correct it through the roadbed diversion grouting device according to the preset grouting pressure value. If the user needs to modify the grouting parameters, the user can do so through the main processing module. (The modification of grouting parameters here is a backup option, mainly for situations where the user needs to manually modify the calculation time step and grouting pressure. The user can manually modify these parameters in this step, and the pressure servo adjustment device will adjust itself according to the user's modification.)

[0091] (11) The main processing module determines whether the user's correction command causes an abnormal message. If the command causes an abnormal message, it is recorded as an abnormal command and the abnormal command is fed back to the main display module as an error message.

[0092] (12) The main display module alerts the main processing module to the error message, guiding the user to continue to perform reasonable correction operations;

[0093] (13) When a user's correction operation does not result in any abnormal information, it is recorded as a normal command. The user's correction command is sent to the pressure servo control diversion device, which then adjusts the grouting status of each grouting branch according to the user's command. (For example, if the original time step t is 15 minutes, the time interval for the rise acquisition value b is 0.5 minutes, and the newly modified time step t1 is 5 minutes, which is 10 times the rise acquisition time interval, and t1 is less than t, it meets the preset time step modification conditions and is judged as a normal command; t1 can also be specifically limited to a certain multiple of the b acquisition time interval based on the equipment processing speed and human reaction time, for example, t1 can be specifically limited to more than 1 minute.)

[0094] An example of the road surface lift monitoring operation process of this control method is as follows: Figure 5 As shown, this example includes traffic monitoring. The target value b0 is within the security threshold range [b 0.1 b 0.2 For example, taking the b0 safety threshold range of 12cm [11.5, 12.5], determine B. i+1 Is it in [b] 0.1 b 0.2 Within the range, there are three possibilities, one of which is within [b]. 0.1 b 0.2 Within the range, the second is B. i+1 <b 0.1 Thirdly, B i+1 >b 0.2 When B i+1 >b0.2 This indicates that after grouting at the next time step, the road surface elevation may exceed the target value b0 error range, resulting in excessive road surface elevation. Therefore, operators are reminded to focus their attention on observing the elevation value b during this time step, and to stop grouting in time when it equals the target value, thus completing the grouting operation.

[0095] As mentioned above, by collecting the standard values ​​of the rise at each road grouting point, and then combining them with the rise data of the previous time step, predictions can be made in advance to determine whether the current operation can continue or whether it will cause the road grouting point to rise too high. This allows operators to be reminded in advance to be ready to stop grouting and complete the grouting operation within the next time step, or to adjust the time step in time to further improve the accuracy of the reminder to stop grouting. This is beneficial to improving the accuracy of the rise of the road grouting point.

[0096] It should be noted that the examples of the above embodiments can preferably be combined with one or more of each other according to actual needs, and the accompanying drawings of multiple examples adopt a set of combined technical features, which will not be described in detail here.

[0097] The above description is a detailed explanation and illustration of the preferred embodiments of the present invention. However, these descriptions are not intended to limit the scope of protection claimed by the present invention. All equivalent changes or modifications made under the technical teachings of the present invention should fall within the patent protection scope covered by the present invention.

Claims

1. A method for pressure servo adjustment of a roadbed diversion grouting device, characterized in that, The grouting slurry of the diversion grouting device is diverted into at least two grouting branch pipes through the main grouting pipe under the action of the main grouting pump, and then output after pressure regulation by the diversion pumps installed on the branch pipes; the pressure servo regulation method includes the following: Program setup: Set the grouting parameters for each grouting branch pipe; the grouting parameters include the number of grouting branch pipes, the target value of the branch pipe grouting pressure P0, and the grouting flow rate Q corresponding to the target value of the branch pipe grouting pressure P0. The grouting flow rate Q is obtained by combining the flow rate and pressure characteristic curve of each diversion pump under the grouting branch pipe with the target value of the branch pipe grouting pressure P0. Data Acquisition Procedure: During the grouting process through at least two branch pipes, the monitoring parameters of the grouting process of each branch pipe are acquired; the monitoring parameters include the initial grouting pressure value P1 and the actual grouting pressure value P2 of the branch pipe; Pressure regulation program: used to adjust the current motor power of the diversion pump according to the initial grouting pressure value P1, so that the actual grouting pressure value P2 is within the error range of the branch pipe grouting pressure target value P0; The specific details of the pressure regulation procedure are as follows: Calculate the pressure compensation value required after the grout enters the current grouting branch pipe. And determine the pressure compensation value. To determine whether the value is within the threshold range, proceed with the following steps. If the pressure compensation value If the pressure is within the threshold range, the corresponding diverter pump will stop operating, the current pressure regulation process will end, and the data acquisition program will return to execute the next pressure regulation process. If the pressure compensation value If the pressure is outside the threshold range and less than zero, control the grouting main pump to reduce its operating speed and decrease the grouting pressure in the main pipe, and return to the acquisition program to continue the pressure regulation process. If the pressure compensation value If it is outside the threshold range and greater than zero, then it is based on the pressure compensation value. And the grouting flow rate Q is calculated to correspond to the pressure compensation value reached by the diversion pump. Required motor power and its maximum value Compare the results and perform the following operations accordingly; if Then, based on the initial grouting pressure P1, the actual grouting pressure P2, and the grouting flow rate Q, calculate the current motor power of the corresponding diversion pump. And adjust the current motor power of the diversion pump so that Then the current pressure regulation process ends, and the data acquisition program returns to execute the next pressure regulation process. if Then determine whether the grouting main pump has reached its pressure limit; Otherwise, control the main grouting pump to increase its operating speed and grouting pressure in the main pipe, and return to the data acquisition program to continue the pressure regulation process; if yes, reduce the number of grouting branch pipes, return to the setting program to update the grouting parameters, reduce the number of grouting branch pipes by 1, and continue the pressure regulation process.

2. The pressure servo adjustment method for a roadbed diversion grouting device according to claim 1, characterized in that: In the pressure regulation program, the motor power required by the diversion pump is... The calculation formula is: ； Current motor power of the diversion pump The calculation formula is: ； The formula for calculating the power difference of the adjustable motor required for the diverter pump is: ； In the formula, Let Q be the density ratio of the grouting material to water, and let Q be the grouting flow rate corresponding to the preset grouting pressure target value. For shaft efficiency, This refers to the motor efficiency.

3. The pressure servo adjustment method for a roadbed diversion grouting device according to claim 1, characterized in that: It also includes a pavement uplift monitoring program, used to monitor pavement uplift according to standard values. And predict the road surface rise within the next time step t. ,monitor Is it at the target value for road surface elevation? Within the threshold range; among them, the grouting parameters set in the program also include the target value for road surface uplift at the grouting point. The time step t; the monitoring parameters of the acquisition program also include the standard value of road surface uplift at the grouting point. .

4. The pressure servo adjustment method for a roadbed diversion grouting device according to claim 3, characterized in that: The specific details of the road surface uplift monitoring procedure are as follows: According to the standard value of road surface raising Given a time step t, calculate the standard increment of road surface lift within each time step. And predict the road surface rise value in the next time step. ; Will and Compare and judge Is it in Threshold range Within; if so, then end the road surface lift monitoring process; if This concludes the current road surface lift monitoring process and returns to execute the next road surface lift monitoring process; if If the information is deemed abnormal, an alarm will be issued, and the process will then return to execute the next road surface lifting monitoring procedure.

5. The pressure servo adjustment method for a roadbed diversion grouting device according to claim 4, characterized in that: The road surface uplift monitoring program also includes the following: Between identifying an abnormal message and resuming the next road surface lift monitoring procedure, the following operations are performed: Determine whether to manually adjust the time step t; Otherwise, return to execute the next road surface lift monitoring process; If so, the system receives the user's updated setting time step t1, then determines whether t1 meets the correction condition. If it does, the command is considered normal, and the system returns to the setting program to update the grouting parameters and continue the road surface lifting monitoring process. Otherwise, the command is considered abnormal, and the system returns to receive the user's updated setting time step t1. The time step correction condition is that t1 is... The data collection time interval is an integer multiple of t, and t1 is less than t.

6. The pressure servo adjustment method for a roadbed diversion grouting device according to claim 4, characterized in that: In the road surface uplift monitoring program, the predicted road surface uplift value The formula for calculation is: ； ； In the formula, Let be the standard value of road surface lift at time step i. This represents the standard increment of road surface lift within the i-th time step. Let i+1 be the predicted road surface rise value.

7. A method for pressure servo adjustment of a roadbed diversion grouting device according to claim 3 or 4, characterized in that: The method for reducing the number of grouting branch pipes in the pressure regulation procedure is as follows: take the standard value of road surface lift corresponding to each grouting branch pipe currently performing grouting operation. and target value The differences are sorted, and the grouting branch with the largest difference is selected as the target, and the grouting operation on that grouting branch is stopped.

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