Subdivided single-barrel foundation penetration control method based on height difference and pressure difference of cabins

Abstract

The invention discloses a subdivision type single barrel foundation penetration control method based on height difference and pressure difference of cabins, which comprises the following steps: S1, high-precision positioning terminals mounted at four corners of the top of an upper barrel measure three points to calculate a barrel top plane equation, and respectively substitute the plane coordinates of the center of each cabin to obtain the elevation of the cabin; s2, according to cabin internal and external pressure gauges, the difference value between the internal and external pressure difference of each cabin and the critical pressure difference is calculated; and S3, taking the elevation difference and the pressure difference as input variables of fuzzy control, performing fuzzy processing on the input variables, completing reasoning through a fuzzy control rule to solve a control quantity, and further adjusting the frequency of the submersible pump. According to the method, an actual system is abstracted into a fuzzy language variable of a fuzzy rule, so that a fuzzy controller is used for controlling.

Description

Technical Field

[0001] The invention relates to a sub-cabin type single barrel foundation sinking control method based on the height difference and pressure difference of each cabin. Background Art

[0002] The compartmented single barrel foundation is a concrete foundation structure commonly used in port construction. Its sinking construction can be divided into two stages: self-weight sinking and negative pressure sinking. During the self-weight sinking stage, the inside and outside of the barrel must be connected so that the gas and water in the barrel can be discharged; when the lifting load of the crane ship is reduced to approximately 0 and the foundation elevation tends to be stable, it can be considered that the self-weight sinking stage is over, and the self-weight of the foundation alone cannot continue to overcome the resistance and sink; after the self-weight sinking is completed, the pipeline and valve are adjusted to isolate the top of the barrel from the external water, forming a sealed space in the barrel, and the water pump is turned on to pump the water in the barrel out of the barrel to achieve negative pressure sinking.

[0003] An important data in the process of negative pressure penetration is the mechanical index - the pressure difference between the inside and outside of the negative pressure barrel. If the pressure difference is too small, it is not enough to overcome the penetration resistance to achieve sinking. If the pressure difference is too large, it may cause the soil plug in the barrel to be damaged (clay bearing capacity or sand seepage) and the displacement of the soil plug in the barrel to be too large. Therefore, the pressure sensor is generally integrated on the pump skid equipment to monitor the pressure difference between the inside and outside of the negative pressure barrel in real time, and the pressure difference is monitored as an important control index during the whole process of negative pressure penetration to ensure that it does not exceed the critical value. Another important control index is the horizontality of the top plane of the foundation barrel. If the foundation is tilted or the penetration depth is insufficient, it may affect the stability and bearing capacity of the foundation.

[0004] Therefore, a compartment-type single-barrel foundation penetration control method based on the height difference and pressure difference of each compartment is provided. Summary of the invention

[0005] The purpose of the present invention is to overcome the existing defects and provide a compartment-type single-barrel foundation penetration control method based on the height difference and pressure difference of each compartment, by abstracting the actual system into fuzzy linguistic variables of fuzzy rules, so as to use a fuzzy controller for control.

[0006] The technical solution to achieve the above purpose is:

[0007] The sub-compartmental single barrel foundation penetration control method based on the height difference and pressure difference of each compartment includes:

[0008] Step S1, the high-precision positioning terminal installed at the four corners of the top of the barrel measures three points to calculate the top of the barrel plane equation, and substitutes them into the center plane coordinates of each cabin to obtain its elevation;

[0009] Step S2, according to the pressure gauges inside and outside the cabin, respectively calculate the difference between the pressure difference inside and outside the cabin and the critical pressure difference;

[0010] In step S3, both the elevation difference and the pressure difference are used as input variables of fuzzy control, and after fuzzification, the control variable is solved by reasoning using fuzzy control rules, thereby adjusting the frequency of the submersible pump.

[0011] Preferably, in step S1, assuming that the measurement results of the three high-precision positioning terminals are A(x1, y1, z1), B(x2, y2, z2) and C(x3, y3, z3), the normal vector of the plane formed by the three points is:

[0012]

[0013] in,

[0014] a=(y2-y1)(z3-z1)-(y3-y1)(z2-z1);

[0015] b = (x3-x1)(z2-z1)-(x2-x1)(z3-z1);

[0016] c=(x2-x1)(y3-y1)-(x3-x1)(y2-y1);

[0017] The general equation of a plane is:

[0018] ax+by+cz+d=0;

[0019] Substituting point A into the equation, we get:

[0020] d = -ax1-by1-cz1;

[0021] Then we get the plane equation of the barrel top.

[0022] Preferably, in step S1, since the inclination angle θ of the foundation is small, sinθ≈tanθ, the elevation of each point obtained by substituting the plane coordinates of the center points of each cabin of the completely horizontal foundation into the equation is approximately equal to the elevation of each point after the actual inclination occurs.

[0023] Preferably, in step S2, the elevation difference between other cabins and the center of the foundation is calculated based on the elevation of the central cabin, and then the difference between the pressure difference inside and outside each cabin and the critical pressure difference is calculated using pressure gauges inside and outside the cabin.

[0024] Preferably, step S3 comprises:

[0025] Step S31, dividing the elevation difference of the control cabin into five fuzzy sets, including negative large, negative small, zero, positive small and positive large, and the deviation value range is [-300, 300];

[0026] Step S32, dividing the difference between the pressure difference inside and outside the control cabin and the critical pressure difference into three fuzzy sets, including negative, zero and positive, and the deviation value range is [0, 10];

[0027] Step S33, formulating fuzzy rules;

[0028] Step S34, the elevation difference and the pressure difference are substituted into the fuzzy controller as input variables, fuzzy rules are applied to complete fuzzy decision-making, and the area center method is used to defuzzify to obtain the actual control frequency.

[0029] Preferably, in step S33, a fuzzy rule is formulated as follows: the greater the height difference, the greater the frequency, and the closer the difference is to 0, the smaller the frequency.

[0030] Preferably, in step S34, the actual control frequency obtained is also divided into five fuzzy sets, including negative large, negative small, zero, positive small and positive large, and the deviation value range is [0,50].

[0031] The beneficial effects of the present invention are:

[0032] The present invention can be used for the automatic sinking of a compartment-type negative pressure single barrel foundation, by abstracting the actual system into fuzzy language variables of fuzzy rules, so as to use a fuzzy controller for control;

[0033] The input variables in the present invention are the elevation difference of the control cabin and the difference between the pressure difference inside and outside the cabin and the critical pressure difference. The output variable is the water pump frequency. Through reasonable fuzzy modeling, the functions of automatically controlling the penetration and leveling of the compartment-type negative pressure single-barrel foundation without damaging the soil and ensuring safe construction are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flow chart of the sub-cabin type single barrel foundation penetration control method based on the height difference and pressure difference of each cabin of the present invention;

[0035] Figure 2 It is a specific flow chart of the present invention that uses both elevation difference and pressure difference as input variables of fuzzy control, performs fuzzy processing on them and completes reasoning by fuzzy control rules to solve the control quantity, and then adjusts the frequency of the submersible pump. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0037] The present invention will be further described below in conjunction with the accompanying drawings.

[0038] like Figure 1 As shown in the figure, the sub-compartment type single barrel foundation penetration control method based on the height difference and pressure difference of each compartment includes:

[0039] Step S1, the high-precision positioning terminals installed at the four corners of the barrel top measure three points therein to calculate the barrel top plane equation, and substitute them into the center plane coordinates of each cabin to obtain its elevation.

[0040] In the embodiment, assuming that the measurement results of three high-precision positioning terminals are A(x1, y1, z1), B(x2, y2, z2) and C(x3, y3, z3), the normal vector of the plane formed by the three points is:

[0041]

[0042] in,

[0043] a=(y2-y1)(z3-z1)-(y3-y1)(z2-z1);

[0044] b = (x3-x1)(z2-z1)-(x2-x1)(z3-z1);

[0045] c=(x2-x1)(y3-y1)-(x3-x1)(y2-y1);

[0046] The general equation of a plane is:

[0047] ax+by+cz+d=0;

[0048] Substituting point A into the equation, we get:

[0049] d = -ax1-by1-cz1;

[0050] Then we get the plane equation of the barrel top.

[0051] In the embodiment, since the inclination angle θ of the foundation is small, sinθ≈tanθ, and the elevation of each point obtained by substituting the plane coordinates of the center points of each cabin of the completely horizontal foundation into the equation is approximately equal to the elevation of each point after the actual inclination occurs.

[0052] Step S2, according to the pressure gauges inside and outside the cabin, respectively calculate the difference between the pressure difference inside and outside the cabin and the critical pressure difference.

[0053] In the embodiment, the elevation difference between other cabins and the center of the foundation is calculated based on the elevation of the central cabin, and then the difference between the pressure difference inside and outside each cabin and the critical pressure difference is calculated using the pressure gauges inside and outside the cabin.

[0054] In step S3, both the elevation difference and the pressure difference are used as input variables of fuzzy control, and after fuzzification, the control variable is solved by reasoning using fuzzy control rules, thereby adjusting the frequency of the submersible pump.

[0055] like Figure 2 As shown, step S3 specifically includes:

[0056] In step S31, the elevation difference (Height) of the control cabin is divided into five fuzzy sets, including negative large (NB), negative small (NS), zero (ZO), positive small (PS) and positive large (PB). The deviation value range is [-300, 300]. A negative elevation difference means that the position of the control cabin is low, and vice versa.

[0057] In step S32, the difference (Pressure) between the pressure difference inside and outside the control cabin and the critical pressure difference is divided into three fuzzy sets, including negative (N), zero (ZO) and positive (P). The deviation range is [0, 10]. The smaller the parameter is, the closer it is to the limit.

[0058] Step S33, formulating fuzzy rules.

[0059] In the embodiment, the fuzzy rule is formulated as follows: the greater the height difference, the greater the frequency, and the closer the difference is to 0, the smaller the frequency.

[0060] The fuzzy control rules of points A, B, and C are shown in Table 1.

[0061]

[0062]

[0063] Step S34, the elevation difference and the pressure difference are substituted into the fuzzy controller as input variables, fuzzy rules are applied to complete fuzzy decision-making, and the area center method is used to defuzzify to obtain the actual control frequency.

[0064] In the embodiment, the actual control frequency obtained, that is, the submersible pump frequency (Frequency), is also divided into five fuzzy sets, including negative large (NB), negative small (NS), zero (ZO), positive small (PS) and positive large (PB), and the deviation value range is [0,50], representing 0 to 50 Hz.

[0065] In the embodiment, the input / output relationship, i.e., elevation difference, pressure difference, and submersible pump frequency, basically conforms to the control logic; the performance of the fuzzy controller is determined by the fuzzy rules, which can be subsequently optimized by combining neural network learning based on the actual construction data.

[0066] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some or all of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the penetration of a compartment-type single-barrel foundation based on the height difference and pressure difference of each compartment, characterized in that: include: Step S1, the high-precision positioning terminal installed at the four corners of the top of the barrel measures three points to calculate the top of the barrel plane equation, and substitutes them into the center plane coordinates of each cabin to obtain its elevation; Step S2, according to the pressure gauges inside and outside the cabin, respectively calculate the difference between the pressure difference inside and outside the cabin and the critical pressure difference; In step S3, both the elevation difference and the pressure difference are used as input variables of fuzzy control, and after fuzzification, the control variable is solved by reasoning using fuzzy control rules, thereby adjusting the frequency of the submersible pump.

2. The method for controlling the penetration of a compartment-type single-barrel foundation based on the height difference and pressure difference of each compartment according to claim 1 is characterized in that: In step S1, assuming that the measurement results of the three high-precision positioning terminals are A(x1, y1, z1), B(x2, y2, z2) and C(x3, y3, z3), the normal vector of the plane formed by the three points is: in, a=(y2-y1)(z3-z1)-(y3-y1)(z2-z1); b = (x3-x1)(z2-z1)-(x2-x1)(z3-z1); c=(x2-x1)(y3-y1)-(x3-x1)(y2-y1); The general equation of a plane is: ax+by+cz+d=0; Substituting point A into the equation, we get: d = -ax1-by1-cz1; Then we get the plane equation of the barrel top.

3. The method for controlling the penetration of a compartment-type single-barrel foundation based on the height difference and pressure difference of each compartment according to claim 2 is characterized in that: In step S1, since the inclination angle θ of the foundation is small, sinθ≈tanθ, the plane coordinates of the center points of each cabin of the completely horizontal foundation are substituted into the equation to obtain the elevation of each point, which is approximately equal to the elevation of each point after the actual inclination occurs.

4. The method for controlling the penetration of a compartment-type single-barrel foundation based on the height difference and pressure difference of each compartment according to claim 1 is characterized in that: In step S2, the elevation difference between other cabins and the center of the foundation is calculated based on the elevation of the central cabin, and then the difference between the pressure difference inside and outside each cabin and the critical pressure difference is calculated using the pressure gauge inside and outside the cabin.

5. The method for controlling the penetration of a compartment-type single-barrel foundation based on the height difference and pressure difference of each compartment according to claim 1 is characterized in that: The step S3 comprises: Step S31, dividing the elevation difference of the control cabin into five fuzzy sets, including negative large, negative small, zero, positive small and positive large, and the deviation value range is [-300, 300]; Step S32, dividing the difference between the pressure difference inside and outside the control cabin and the critical pressure difference into three fuzzy sets, including negative, zero and positive, and the deviation value range is [0, 10]; Step S33, formulating fuzzy rules; Step S34, the elevation difference and the pressure difference are substituted into the fuzzy controller as input variables, fuzzy rules are applied to complete fuzzy decision-making, and the area center method is used to defuzzify to obtain the actual control frequency.

6. The method for controlling the penetration of a compartment-type single-barrel foundation based on the height difference and pressure difference of each compartment according to claim 5 is characterized in that: In step S33, a fuzzy rule is formulated as follows: the greater the height difference, the greater the frequency; the closer the difference is to 0, the smaller the frequency.

7. The method for controlling the penetration of a compartment-type single-barrel foundation based on the height difference and pressure difference of each compartment according to claim 5 is characterized in that: In step S34, the actual control frequency obtained is also divided into five fuzzy sets, including negative large, negative small, zero, positive small and positive large, and the deviation value range is [0,50].

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