A verticality control method for underwater steel cylinder vibration installation

Abstract

The present invention relates to the technical field of steel cylinder vibrating and sinking installation, and specifically, to a method for controlling the verticality of underwater steel cylinder vibrating and sinking installation. The method comprises the following steps: S1, conducting detailed soil sample drilling tests on the specific location where the steel cylinder is planned to be vibrated and sunk and the area within a certain range around it, and obtaining geological characteristic data in the area; S2, transporting the structural equipment to the sea area, installing a modern digital inclinometer as an attitude meter at the preset position of the steel cylinder and the hammer group, and calibrating and verifying the attitude meter; S3, after the installation and verification of the attitude meter is completed, the hammer group and the steel cylinder are hoisted into the water as a whole, and the vibrating and sinking method is selected according to the acquired geological characteristic data during the vibrating and sinking process; S4, combining the attitude meter data, the cylinder body of the steel cylinder is corrected in real time. The design of the present invention combines underwater vibrating and sinking with the correction process, ensuring the perfect control of the verticality of the underwater vibrating and sinking of the steel cylinder, overcoming environmental resistance and accurately meeting the design requirements.

Description

Technical Field

[0001] The invention relates to the technical field of steel cylinder vibrating sinking installation, in particular to a verticality control method for underwater steel cylinder vibrating sinking installation. Background Art

[0002] The geological conditions in the marine environment are very complex. Soil layers at different depths may have significant differences in physical properties, such as hardness, bearing capacity, friction, etc. These changes will affect the vibration sinking process of the steel cylinder and may cause the steel cylinder to tilt during the sinking process. In an underwater environment, due to limited vision, it is difficult to apply methods such as horizontal rulers and vertical hanging lines commonly used in traditional ground construction. Different geological conditions require different vibration sinking parameters (such as vibration frequency, amplitude and duration). If a unified vibration sinking method is used, the steel cylinder may not sink smoothly or tilt under certain geological conditions. The installation of underwater steel cylinders usually has high requirements for verticality. Generally, it is necessary to ensure that the verticality error is less than a certain percentage (such as 1%). Any deviation beyond the allowable range may lead to subsequent construction difficulties or even the failure of the entire project. In summary, a verticality control method for underwater steel cylinder vibration sinking installation is provided. Summary of the invention

[0003] The main technical problem to be solved by the present invention is to overcome the above-mentioned defects of the prior art and provide a method for controlling the verticality of an underwater steel cylinder vibrating installation, comprising the following steps:

[0004] S1. Conduct detailed soil sample drilling tests at the specific location where the steel cylinder is planned to be vibrated and the surrounding area within a certain range to obtain geological characteristics data in the area;

[0005] S2. Transport the structural equipment to the sea area, install modern digital inclinometers as attitude indicators at the preset positions of the steel cylinder and hammer group, and calibrate and verify the attitude indicators;

[0006] S3. After the installation and verification of the attitude instrument is completed, the integral hoisting hammer group and the steel cylinder are put into the water, and the vibration sinking method is selected according to the geological characteristic data obtained during the vibration sinking process;

[0007] S4. Combined with the attitude instrument data, the steel cylinder is corrected in real time until it reaches the designed depth, and the finite difference method is used to verify whether the correction scheme during the entire vibration sinking process is effective.

[0008] As a further improvement of the technical solution, in S2, a modern digital inclinometer is installed at the preset position of the steel cylinder and the hammer group as an attitude meter, and the attitude meter is calibrated and verified, including the following steps:

[0009] S2.1. Install two attitude meters on the vibrating hammer set, keeping an angle of 180°, install another two attitude meters on the steel cylinder, keeping an angle of 90°, and prepare the digital inclinometer and installation tools;

[0010] S2.2. Check the working status of the digital inclinometer, fix the digital inclinometer in the preset position, and measure and adjust the position of the steel cylinder and hammer group by the level to ensure that they are in the correct horizontal state before lifting;

[0011] S2.3. After installation, first calibrate the digital inclinometer on the ground using a traditional level to ensure that its readings are accurate, and perform consistency tests on the inclinometer at different locations to ensure that its readings in all directions are accurate and reliable;

[0012] S2.4. If it is confirmed that the installation position of the digital inclinometer is correct and its readings are accurate, it will be used for posture monitoring during the subsequent vibration and sinking process.

[0013] As a further improvement of the technical solution, in S3, selecting the vibration sinking method according to the acquired geological characteristic data specifically includes:

[0014] When the upper soil layer is soft and relatively uniform, a long-time vibration sinking method is used to improve construction efficiency;

[0015] When sinking to the soil layer with large bearing capacity changes and poor uniformity, adjust to the short-time point vibration method and gradually increase the eccentric wheel speed.

[0016] As a further improvement of the technical solution, when the upper soil layer is relatively soft and relatively uniform, a long-time vibration sinking method is adopted, comprising the following steps:

[0017] S3.1. The integral lifting hammer assembly and steel cylinder are lowered into the water until they touch the seabed, and the steel cylinder is positioned to the predetermined position by controlling the position of the main operation vessel;

[0018] S3.2. Start the vibrating hammer group, set a lower vibration frequency, and set a longer vibration sinking duration to ensure that the steel cylinder can be inserted into the soft soil layer smoothly and continuously;

[0019] S3.3. Monitor the sinking progress of the steel cylinder until it approaches the soil layer with large bearing capacity variation and poor uniformity.

[0020] As a further improvement of the technical solution, in S4, when sinking to a soil layer with a large bearing capacity change and poor uniformity, the method is adjusted to a short-time point vibration method, and the eccentric wheel speed is gradually increased, including the following steps:

[0021] S4.1. When the steel cylinder sinks to a soil layer with large bearing capacity variation and poor uniformity, immediately stop the long-term vibration sinking operation and confirm through the attitude meter that the steel cylinder has reached the target soil layer;

[0022] S4.2. Turn off the original long-time vibration sinking equipment and prepare to switch to the short-time spot vibration mode. Adjust the vibration sinking equipment to the short-time spot vibration mode, set the initial eccentric wheel speed, set the spot vibration duration, and set the initial duration to a few seconds;

[0023] S4.3. Start the short-time point vibration equipment and perform short-time vibration sinking at a higher vibration frequency;

[0024] S4.4. According to the sinking situation, gradually increase the eccentric wheel speed. After each increase in speed, observe the sinking speed and posture changes of the steel cylinder.

[0025] As a further improvement of the technical solution, in S4, the cylinder deviation correction work of the steel cylinder is performed in real time, including the following steps:

[0026] S4.5. Monitor the attitude change of the steel cylinder in real time through the attitude meter and record the attitude data of each time period. The attitude data includes pitch angle, roll angle and yaw angle;

[0027] S4.6. Analyze the changing trend of posture data over time by the sliding average method to determine whether there is a tilt trend;

[0028] S4.7. If the steel cylinder is found to deviate from the vertical state, corrective measures shall be taken immediately.

[0029] As a further improvement of the technical solution, in S4.6, the changing trend of the posture data over time is analyzed by the sliding average method to determine whether there is an obvious tilt trend, including the following steps:

[0030] S4.61, read the posture data and perform preprocessing, arrange the posture data in chronological order to form time series data;

[0031] S4.62. Calculate the sliding average of the pitch angle, roll angle, and yaw angle;

[0032] S4.63. Check the changes in the sliding average. If it is found that the sliding average of multiple consecutive time points continues to rise or fall, it indicates that there is a tilting trend.

[0033] As a further improvement of the technical solution, in S4.62, the sliding average values ​​of the pitch angle, the roll angle and the yaw angle are specifically:

[0034] The sliding average of the pitch angle is:

[0035]

[0036] The sliding average of the roll angle is:

[0037]

[0038] The sliding average of the yaw angle is:

[0039]

[0040] Yaw=∫w z dt;

[0041] Where t represents the current time point; w represents the sliding window size; i represents the index; Pitch(i) represents the pitch angle at the i-th time point; a x represents the acceleration of the steel cylinder along the transverse x-axis; a y represents the acceleration of the longitudinal y-axis of the steel cylinder; a z represents the acceleration of the steel cylinder in the vertical z-axis direction; Roll(i) represents the roll angle at the i-th time point; Yaw(i) represents the yaw angle at the i-th time point; w z represents the angular velocity around the z-axis of the steel cylinder; dt represents the time interval.

[0042] As a further improvement of the technical solution, in S4.7, the correction measures specifically include:

[0043] If the attitude indicator shows that the steel cylinder is tilted forward and backward, the attitude of the steel cylinder is adjusted by controlling the position of the main operation ship;

[0044] If the attitude indicator shows that the steel cylinder is tilted left or right, use the vertical lifting of the double hook of the crane to adjust the attitude of the steel cylinder;

[0045] According to the real-time monitored attitude data, adjust the vibration and sinking parameters to adapt to the current geological conditions. The vibration and sinking parameters include vibration frequency, amplitude and duration;

[0046] At key checkpoints, manual calibration is performed using a level and vertical hanging line to verify the attitude indicator data.

[0047] As a further improvement of the technical solution, the finite difference method is used to verify whether the correction scheme in the entire vibration sinking process is effective, including the following steps:

[0048] S4.8. Establish a dynamic model to describe the steel cylinder and its surrounding medium, and define the physical properties of the steel cylinder and the physical properties of the soil;

[0049] S4.9, discretize the steel cylinder and the medium space around it into grid nodes;

[0050] S4.10, discretize the time domain into a series of time steps;

[0051] S4.11. Use differential approximation instead of derivatives to obtain discretized finite difference equations, and impose appropriate boundary conditions on the grid boundaries, such as displacement boundary conditions, stress boundary conditions, etc.;

[0052] S4.12. Use the actual measured attitude data as input to simulate the vibration and sinking process, including changes in pitch angle, roll angle and yaw angle; dynamically adjust simulation parameters according to the actual measured data, the simulation parameters include vibration frequency and amplitude, simulate the attitude changes during the vibration and sinking process, and compare with the actual measured data;

[0053] S4.13. According to the actual correction measures during the vibration and sinking process, set the corresponding simulation correction plan, including adjusting the position of the main operation ship and the height of the double hooks of the crane;

[0054] S4.14. Apply the set deviation correction scheme in the numerical simulation, simulate the vibration sinking process after the deviation correction, observe the simulation results, and analyze the effect of the deviation correction scheme;

[0055] S4.15. Compare the simulation results with the actual measurement data to evaluate the effectiveness of the correction scheme. Calculate the error between the simulation results and the actual measurement data to evaluate the accuracy of the simulation results.

[0056] The beneficial effects of the present invention are:

[0057] 1. In the verticality control method of the underwater steel cylinder vibrating installation, by using a modern digital inclinometer for real-time monitoring during the vibrating process, and flexibly adjusting the vibrating strategy according to geological characteristic data (such as switching from long-term vibrating to short-term point vibration), this method can effectively improve the verticality control accuracy of the steel cylinder under complex geological conditions, ensuring the perfect control of the verticality of the steel cylinder underwater vibrating. The verticality deviation after it is in place is only 0.2°, and the error is only 0.22%. It solves the problem of verticality control of similar structures during vibrating installation. This not only reduces the possibility of rework due to verticality deviation, but also speeds up the construction progress and improves the overall construction efficiency.

[0058] 2. In the verticality control method of the underwater steel cylinder vibration installation, the use of attitude instrument monitoring data combined with the finite difference method for simulation analysis can help the construction team predict and deal with potential risk factors in advance, such as the tilt trend of the steel cylinder. By taking corrective measures in a timely manner, the stable sinking of the steel cylinder during the construction process is ensured, the risk of safety accidents caused by loss of control is reduced, and the safety and reliability of the entire construction process are enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of a soil sample drilling test in an embodiment of the method of the present invention;

[0060] Figure 2 The curve of the unit pile bearing capacity and surface friction force changing with depth in the embodiment of the method of the present invention;

[0061] Figure 3 A schematic diagram of the attitude meter device and the installation position in the embodiment of the method of the present invention;

[0062] Figure 4 This is a flow chart of verticality control in an embodiment of the method of the present invention;

[0063] Figure 5 The figure is a flow chart of the overall method of the present invention. DETAILED DESCRIPTION

[0064] See also Figure 1-5 As shown, this embodiment provides a method for controlling the verticality of an underwater steel cylinder during vibration and sinking installation, comprising the following steps:

[0065] S1. Conduct detailed soil sample drilling tests at the specific location where the steel cylinder is planned to be vibrated and the surrounding area within a certain range to obtain geological characteristics data in the area;

[0066] Among them, geological property data include unit pile bearing capacity and surface friction;

[0067] In this embodiment, if Figure 1 As shown in the figure, the center and circumference of the steel cylinder are investigated in advance to conduct soil sample drilling tests, and the curves of unit pile bearing capacity and surface friction with depth are obtained, as shown in the figure. Figure 2 As shown. By analyzing the collected data, the corresponding conclusion is drawn: the soil layer in the steel cylinder area is unevenly distributed. In the hard soil layer area of ​​6-10 meters, the bearing capacity of the soil layer fluctuates between 0.9-3.5MPa, with a significant change range and an uneven degree of more than 1 times.

[0068] S2. Transport the structural equipment to the sea area, install modern digital inclinometers as attitude indicators at the preset positions of the steel cylinder and hammer group, and calibrate and verify the attitude indicators;

[0069] In this embodiment, the structural equipment is transported to the target sea area. Before lifting, two attitude indicator devices are installed on the vibrating hammer group at an angle of 180°, and two attitude indicator devices are installed on the steel cylinder at 90°. The attitude verification is performed on both sides to eliminate the influence of unexpected failure of some equipment on the real-time monitoring of underwater verticality, thereby improving the accuracy and reliability of underwater measurement and monitoring. Figure 3 As shown;

[0070] Among them, modern digital inclinometers can provide accurate numerical readings of the inclination of the structure, which helps to quickly identify and adjust deviations during the construction process. When used, the inclinometer is first placed on the surface of the structure where the verticality needs to be checked. After the inclinometer is turned on, it will display the current surface inclination, and the angle value can be accurate to several decimal places. The operator needs to repeat this process at different heights of the structure, recording the readings of the inclinometer each time to check whether there is any deviation from vertical. If the reading shows that the inclination deviates from 0°, it means that the structure is not vertical at that point. As different parts of the structure are measured, the operator can adjust the structure based on the precise data provided by the inclinometer until the readings of all measurement points are displayed as vertical (i.e. 0° or another preset standard verticality angle), thereby ensuring the correct installation and vertical alignment of the entire structure. The high accuracy of the digital inclinometer makes it particularly useful in high-standard building construction that requires precise control of verticality. A modern digital inclinometer is installed as an attitude meter at the preset position of the steel cylinder and hammer group, and the attitude meter is calibrated and verified, including the following steps:

[0071] S2.1. Install two attitude meters on the vibrating hammer group, keeping an angle of 180°, and install another two attitude meters on the steel cylinder, keeping an angle of 90°. Prepare the digital inclinometer and installation tools, such as fixing screws, sealing materials, etc.;

[0072] S2.2. Check the working status of the digital inclinometer and fix it in the preset position. When installing, pay attention to ensure the stability of the instrument to avoid loosening or falling off. Because it is used underwater, the digital inclinometer needs to be waterproofed to ensure its normal operation underwater. Use a level to measure and adjust the position of the steel cylinder and hammer group to ensure that it is in the correct horizontal state before lifting.

[0073] Among them, when using a level to control verticality, you first need to place the level on a stable tripod and adjust it to a horizontal state, which is usually done by observing and adjusting the bubble tube built into the level. Once the horizontal position of the level is set, it can be aimed at the bottom of the structure to be measured, and then the line of sight can be gradually raised to the top, ensuring that the line of sight of each measuring point passes through the level's directrix. If you need to check the verticality, you can place scales at different heights of the structure and use the crosshairs of the level to ensure that the readings of these scales are consistent, thereby ensuring that there is no deviation in the vertical direction of the structure. If any deviation is found, adjustments should be made in a timely manner to ensure that the vertical accuracy of the structure meets the design requirements;

[0074] S2.3. After installation, first calibrate the digital inclinometer on the ground using a traditional level to ensure that its readings are accurate, and perform consistency tests on the inclinometer at different locations to ensure that its readings in all directions are accurate and reliable;

[0075] S2.4. If it is confirmed that the installation position of the digital inclinometer is correct and its readings are accurate, it will be used for posture monitoring during the subsequent vibration and sinking process.

[0076] S3. After the installation and verification of the attitude instrument is completed, the integral hoisting hammer group and the steel cylinder are put into the water, and the vibration sinking method is selected according to the geological characteristic data obtained during the vibration sinking process;

[0077] In this embodiment, combined with the attached Figure 4 As shown, further, the overall lifting hammer group and steel cylinder are put into the water until they touch the seabed and then sink by themselves. Since the upper soil layer is relatively soft and uniform, the bearing capacity and surface friction of the unit pile are relatively small, and the vibration sinking is relatively easy. In order to improve the construction efficiency, a long-term vibration sinking method is adopted to make the structure quickly enter the mud; as the vibration sinking work proceeds, the steel cylinder body sinks to the hard and poorly uniform soil layer, and the vibration sinking method is adjusted to a short-term lattice. The lattice process is shown in Table 1. The eccentric wheel speed gradually increases from 1200rad / min, and the point vibration time is adjusted according to the posture of the steel cylinder;

[0078] Table 1: lattice process in the embodiment of the method of the present invention

[0079]

[0080] Among them, the vibration sinking method selected according to the acquired geological characteristic data specifically includes:

[0081] When the upper soil layer is soft and relatively uniform, a long-time vibration sinking method is used to improve construction efficiency;

[0082] When sinking to the soil layer with large bearing capacity changes and poor uniformity, adjust to the short-time point vibration method and gradually increase the eccentric wheel speed.

[0083] Furthermore, in soft soil layers, long-term vibration sinking can utilize lower vibration frequencies and longer durations to ensure that the steel cylinder can be inserted more smoothly into the soil layer. This can reduce the number of pauses and repeated adjustments, thereby improving the overall efficiency of construction; soft soil layers are usually more sensitive, and rapid or strong vibrations may cause damage to the soil structure or produce unnecessary soil flow. The long-term vibration sinking method uses a lower vibration frequency, which can reduce disturbance to the soil layer and help protect the original structure of the soil layer; during the long-term vibration sinking process, the lower vibration frequency and longer vibration sinking time allow construction personnel to have more opportunities to monitor and adjust the posture of the steel cylinder in real time, making it easier to maintain the verticality of the steel cylinder. Through continuous monitoring and fine-tuning, the sinking trajectory of the steel cylinder can be better controlled; when the upper soil layer is soft and more uniform, a long-term vibration sinking method is adopted, including the following steps:

[0084] S3.1. The integral lifting hammer assembly and steel cylinder are lowered into the water until they touch the seabed, and the steel cylinder is positioned to the predetermined position by controlling the position of the main operation vessel;

[0085] S3.2. Start the vibrating hammer group, set a lower vibration frequency, and set a longer vibration sinking duration to ensure that the steel cylinder can be inserted into the soft soil layer smoothly and continuously;

[0086] S3.3. Monitor the sinking progress of the steel cylinder until it approaches the soil layer with large bearing capacity variation and poor uniformity.

[0087] Furthermore, in soil layers with large variations in bearing capacity, the mechanical properties of the soil are unstable, which may cause difficulties in the vibration-sinking process. The short-time point vibration method can be flexibly adjusted according to the different characteristics of the soil layer, making the vibration-sinking process more adaptable to complex geological conditions; in soil layers with large variations in bearing capacity and poor uniformity, the steel cylinder is prone to uneven resistance problems, which may cause it to get stuck or tilt. The short-time point vibration method helps to overcome local resistance and reduce the risk of getting stuck through rapid vibration shocks; when sinking to soil layers with large variations in bearing capacity and poor uniformity, adjust to the short-time point vibration method and gradually increase the eccentric wheel speed, including the following steps:

[0088] S4.1. When the steel cylinder sinks to a soil layer with large bearing capacity variation and poor uniformity, immediately stop the long-term vibration sinking operation and confirm through the attitude meter that the steel cylinder has reached the target soil layer;

[0089] S4.2. Turn off the original long-time vibration sinking equipment and prepare to switch to the short-time spot vibration mode. Adjust the vibration sinking equipment to the short-time spot vibration mode, set the initial eccentric wheel speed (such as 1200rad / min), set the spot vibration duration, and set the initial duration to a few seconds (such as 3-5 seconds);

[0090] S4.3. Start the short-time point vibration equipment and perform short-time vibration sinking at a higher vibration frequency;

[0091] S4.4. According to the sinking situation, gradually increase the eccentric wheel speed, such as increasing 200rad / min each time, until the best sinking effect is achieved. After each increase in speed, observe the sinking speed and posture changes of the steel cylinder to ensure that the vibration sinking process is smooth and controllable.

[0092] S4. Combined with the attitude instrument data, the steel cylinder body is corrected in real time until it reaches the designed depth, and the finite difference method is used to verify whether the correction scheme in the entire vibration sinking process is effective;

[0093] In this embodiment, the monitoring data of the underwater attitude instrument is obtained, and the front and rear tilting attitude of the steel cylinder is adjusted by controlling the position of the main operation ship; since the double hook head connection line of the crane fastened to the hammer group is in a vertical state with the main operation ship, the left and right tilting attitude of the steel cylinder is adjusted by raising and lowering the height of the hook head, and the tilting problem of the steel cylinder during the underwater construction process is corrected to ensure the verticality of the structure;

[0094] Among them, the real-time correction of the steel cylinder includes the following steps:

[0095] S4.5. Use the attitude meter to monitor the attitude changes of the steel cylinder in real time and record the attitude data of each time period. The attitude data includes pitch angle, roll angle and yaw angle. Especially during the vibration sinking process, as the steel cylinder sinks, the uniformity of the soil layer, unit pile bearing capacity and surface friction will undergo complex changes. Therefore, it is necessary to closely monitor these changes and adjust the vibration sinking strategy in time.

[0096] S4.6. Analyze the changing trend of attitude data over time by the sliding average method to determine whether there is a tilting trend, and combine the geological characteristics and the data obtained during the vibration sinking process to ensure that any potential tilting trend is discovered and corrected in time;

[0097] Furthermore, in the actual construction process, the posture data may be interfered by various factors, such as environmental noise, equipment vibration, etc. The sliding average method can effectively smooth out these random noises by averaging the data over a period of time, making the trend of the posture data clearer; using the sliding average method can reduce the impact of single-point data fluctuations on the overall trend, making the posture data more stable and reliable, and helping to more accurately judge the tilt trend of the steel cylinder; the sliding average method can process the data in a short time to achieve real-time monitoring. Once a tilt trend is detected, corrective measures can be taken quickly to avoid serious deviations of the steel cylinder; the sliding average method is used to analyze the trend of posture data changes over time to determine whether there is an obvious tilt trend, including the following steps:

[0098] S4.61, read the posture data and perform preprocessing, arrange the posture data in chronological order to form time series data;

[0099] S4.62. Calculate the sliding average of the pitch angle, roll angle, and yaw angle;

[0100] Furthermore, the sliding averages of the pitch angle, roll angle, and yaw angle are specifically:

[0101] The sliding average of the pitch angle is:

[0102]

[0103] The sliding average of the roll angle is:

[0104]

[0105] The sliding average of the yaw angle is:

[0106]

[0107] Yaw=∫w z dt;

[0108] Where t represents the current time point; w represents the sliding window size; i represents the index; Pitch(i) represents the pitch angle at the i-th time point; a x represents the acceleration of the steel cylinder along the transverse x-axis; a y represents the acceleration of the longitudinal y-axis of the steel cylinder; a z represents the acceleration of the steel cylinder in the vertical z-axis direction; Roll(i) represents the roll angle at the i-th time point; Yaw(i) represents the yaw angle at the i-th time point; w z represents the angular velocity around the z-axis of the steel cylinder; dt represents the time interval.

[0109] S4.63. Check the changes in the sliding average. If it is found that the sliding average of multiple consecutive time points continues to rise or fall, it indicates that there is a tilting trend.

[0110] S4.7. If the steel cylinder is found to deviate from the vertical state, corrective measures shall be taken immediately;

[0111] Furthermore, the corrective measures include:

[0112] If the attitude indicator shows that the steel cylinder is tilted forward and backward, the attitude of the steel cylinder is adjusted by controlling the position of the main operation ship;

[0113] If the attitude indicator shows that the steel cylinder is tilted left or right, use the vertical lifting of the double hook of the crane to adjust the attitude of the steel cylinder;

[0114] According to the real-time monitored attitude data, adjust the vibration and sinking parameters to adapt to the current geological conditions. The vibration and sinking parameters include vibration frequency, amplitude and duration. If the vibration and sinking speed is found to be too fast or too slow, adjust the vibration and sinking parameters in time to ensure that the steel cylinder sinks smoothly;

[0115] At key checkpoints, manual calibration is performed using a level and vertical hanging line to verify the attitude indicator data;

[0116] Among them, the level and vertical hanging wire are the most basic verticality checking tools, which can be used to assist in judging the verticality of the structure. The level can check the verticality of a small area, while the vertical hanging wire is suitable for structures with larger heights. To control the verticality of a building or structure using a level and vertical hanging wire, you first need to select a reference point at the bottom of the structure and place a level at that point to ensure it is horizontal. Then, hang a vertical hanging wire from above the reference point so that it just touches or is close to the end point of the level. Along the height of the structure, check points are marked on the surface of the structure at regular intervals, and a level is used to cross-check with the vertical hanging wire at each check point. By ensuring that the vertical hanging wire is the same distance from the structure at each check point, we can confirm the vertical alignment of the structure along its height. If the hanging wire is found to deviate from the predetermined distance of the structure at any check point, it indicates that there is a vertical deviation, and corresponding adjustments need to be made to ensure that the verticality of the structure meets the requirements of the specification. This method is simple and low-cost, and is suitable for occasions where the verticality requirements are not extremely precise; the key points include the position before the steel cylinder begins to vibrate, the predetermined depth check point, the geological change point, the vibrating method conversion point, and the final design depth.

[0117] Furthermore, the finite difference method can predict the behavior of the steel cylinder under different conditions (such as different vibration and sinking parameters, geological conditions, etc.) through numerical simulation. This helps to understand the problems that may be encountered in advance and provide a scientific basis for formulating corrective measures; the finite difference method can model the dynamic behavior of the steel cylinder and its surrounding medium in detail, and more accurate results can be obtained by numerically solving partial differential equations. This method can capture details that are not easy to directly observe during the actual vibration and sinking process, thereby improving the effectiveness of the correction scheme; by inputting the actual measured posture data into the model, the simulation parameters can be dynamically adjusted to make the simulation results closer to the actual situation. This enables the construction team to continuously optimize the correction scheme based on the field data to ensure that it adapts to the changing geological conditions; the finite difference method is used to verify whether the correction scheme is effective during the entire vibration and sinking process, including the following steps:

[0118] S4.8. Establish a dynamic model to describe the steel cylinder and its surrounding medium (such as soil), and define the physical properties of the steel cylinder (such as mass, size, etc.) and the physical properties of the soil (such as density, elastic modulus, etc.);

[0119] The kinetic model is:

[0120]

[0121] In the formula, m is the mass of the steel cylinder; u is the displacement of the steel cylinder; t is time; c is the damping coefficient; k is the elastic coefficient of the soil; d represents differential operation; F(t) is the external excitation force, that is, the force of the periodic vibrating hammer group;

[0122] S4.9. Discretize the steel cylinder and the medium space around it into grid nodes. The grid is a regular rectangular grid.

[0123] S4.10, discretize the time domain into a series of time steps;

[0124] S4.11. Use differential approximation to replace derivatives to obtain discretized finite difference equations, and impose appropriate boundary conditions on the grid boundaries, such as displacement boundary conditions, stress boundary conditions, etc.;

[0125] Among them, if the steel cylinder is discretized into N nodes along the x direction, the distance between each node is Δx, and the steel cylinder is discretized into M nodes along the y direction, the distance between each node is Δy;

[0126] Then the discretized finite difference equation is specifically:

[0127]

[0128] Where Δt represents the time step; represents the displacement of the steel cylinder at the current time step n; represents the displacement of the steel cylinder at the previous time step n-1; represents the displacement of the steel cylinder at the current time step n+1; F(t n ) indicates that at time t n The external excitation force acting on the steel cylinder is the force of the vibrating hammer group; n represents the index of the time step;

[0129] S4.12. Use the actual measured attitude data as input to simulate the vibration and sinking process, including changes in pitch angle, roll angle and yaw angle; dynamically adjust simulation parameters according to the actual measured data, the simulation parameters include vibration frequency and amplitude, simulate the attitude changes during the vibration and sinking process, and compare with the actual measured data;

[0130] S4.13. According to the actual correction measures during the vibration and sinking process, set up the corresponding simulation correction plan, including adjusting the position of the main operation ship and the height of the double hooks of the crane;

[0131] S4.14. Apply the set deviation correction scheme in the numerical simulation, simulate the vibration sinking process after the deviation correction, observe the simulation results, and analyze the effect of the deviation correction scheme;

[0132] S4.15. Compare the simulation results with the actual measurement data to evaluate the effectiveness of the correction scheme. Calculate the error between the simulation results and the actual measurement data to evaluate the accuracy of the simulation results.

[0133] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for controlling the verticality of an underwater steel cylinder vibrating installation, characterized in that: The following steps are involved: S1. Conduct detailed soil sample drilling tests at the specific location where the steel cylinder is planned to be vibrated and the surrounding area within a certain range to obtain geological characteristics data in the area; S2. Transport the structural equipment to the sea area, install modern digital inclinometers as attitude indicators at the preset positions of the steel cylinder and hammer group, and calibrate and verify the attitude indicators; S3. After the installation and verification of the attitude instrument is completed, the integral hoisting hammer group and the steel cylinder are put into the water, and the vibration sinking method is selected according to the geological characteristic data obtained during the vibration sinking process; S4. Combined with the attitude instrument data, the steel cylinder is corrected in real time until it reaches the designed depth, and the finite difference method is used to verify whether the correction scheme during the entire vibration sinking process is effective.

2. The verticality control method for underwater steel cylinder vibrating installation according to claim 1 is characterized by: In S2, a modern digital inclinometer is installed at the preset position of the steel cylinder and the hammer group as an attitude meter, and the attitude meter is calibrated and verified, including the following steps: S2.

1. Install two attitude meters on the vibrating hammer set, keeping an angle of 180°, install another two attitude meters on the steel cylinder, keeping an angle of 90°, and prepare the digital inclinometer and installation tools; S2.

2. Check the working status of the digital inclinometer, fix the digital inclinometer in the preset position, and use the level to measure and adjust the position of the steel cylinder and hammer group to ensure that they are in the correct horizontal state before lifting; S2.

3. After installation, first calibrate the digital inclinometer on the ground using a traditional level to ensure that its readings are accurate, and perform consistency tests on the inclinometer at different locations to ensure that its readings in all directions are accurate and reliable; S2.

4. If it is confirmed that the installation position of the digital inclinometer is correct and its readings are accurate, it will be used for posture monitoring during the subsequent vibration and sinking process.

3. The verticality control method for underwater steel cylinder vibrating installation according to claim 1 is characterized by: In S3, selecting a vibration sinking method according to the acquired geological characteristic data specifically includes: When the upper soil layer is soft and relatively uniform, a long-time vibration sinking method is used to improve construction efficiency; When sinking to the soil layer with large bearing capacity changes and poor uniformity, adjust to the short-time point vibration method and gradually increase the eccentric wheel speed.

4. The verticality control method for underwater steel cylinder vibrating installation according to claim 3 is characterized in that: When the upper soil layer is relatively soft and relatively uniform, a long-time vibration sinking method is adopted, including the following steps: S3.

1. The integral lifting hammer assembly and steel cylinder are lowered into the water until they touch the seabed, and the steel cylinder is positioned to the predetermined position by controlling the position of the main operation vessel; S3.

2. Start the vibrating hammer group, set a lower vibration frequency, and set a longer vibration sinking duration to ensure that the steel cylinder can be inserted into the soft soil layer smoothly and continuously; S3.

3. Monitor the sinking progress of the steel cylinder until it approaches the soil layer with large bearing capacity variation and poor uniformity.

5. The verticality control method for underwater steel cylinder vibrating installation according to claim 1 is characterized in that: In the above S4, when sinking to a soil layer with a large bearing capacity change and poor uniformity, the method is adjusted to a short-time point vibration method, and the rotation speed of the eccentric wheel is gradually increased, including the following steps: S4.

1. When the steel cylinder sinks to a soil layer with large bearing capacity variation and poor uniformity, immediately stop the long-term vibration sinking operation and confirm through the attitude meter that the steel cylinder has reached the target soil layer; S4.

2. Turn off the original long-time vibration sinking equipment and prepare to switch to the short-time spot vibration mode. Adjust the vibration sinking equipment to the short-time spot vibration mode, set the initial eccentric wheel speed, set the spot vibration duration, and set the initial duration to a few seconds; S4.

3. Start the short-time point vibration equipment and perform short-time vibration sinking at a higher vibration frequency; S4.

4. According to the sinking situation, gradually increase the eccentric wheel speed. After each increase in speed, observe the sinking speed and posture changes of the steel cylinder.

6. The verticality control method for underwater steel cylinder vibrating installation according to claim 1 is characterized by: In the above S4, the cylinder body deviation correction work of the steel cylinder is performed in real time, including the following steps: S4.

5. Monitor the attitude change of the steel cylinder in real time through the attitude meter and record the attitude data of each time period. The attitude data includes pitch angle, roll angle and yaw angle; S4.

6. Analyze the changing trend of posture data over time by the sliding average method to determine whether there is a tilt trend; S4.

7. If the steel cylinder is found to deviate from the vertical state, corrective measures shall be taken immediately.

7. The verticality control method for underwater steel cylinder vibrating installation according to claim 6 is characterized by: In S4.6, the changing trend of the posture data over time is analyzed by the sliding average method to determine whether there is an obvious tilt trend, including the following steps: S4.61, read the posture data and perform preprocessing, arrange the posture data in chronological order to form time series data; S4.

62. Calculate the sliding average of the pitch angle, roll angle, and yaw angle; S4.

63. Check the changes in the sliding average. If it is found that the sliding average of multiple consecutive time points continues to rise or fall, it indicates that there is a tilting trend.

8. The verticality control method for underwater steel cylinder vibrating installation according to claim 7 is characterized by: In S4.62, the sliding average values ​​of the pitch angle, the roll angle and the yaw angle are specifically: The sliding average of the pitch angle is: The sliding average of the roll angle is: The sliding average of the yaw angle is: Yaw=∫w z dt; Where t represents the current time point; w represents the sliding window size; i represents the index; Pitch(i) represents the pitch angle at the i-th time point; a x represents the acceleration of the steel cylinder along the transverse x-axis; a y represents the acceleration of the longitudinal y-axis of the steel cylinder; a z represents the acceleration of the steel cylinder in the vertical z-axis direction; Roll(i) represents the roll angle at the i-th time point; Yaw(i) represents the yaw angle at the i-th time point; w z represents the angular velocity around the z-axis of the steel cylinder; dt represents the time interval.

9. The verticality control method for underwater steel cylinder vibrating installation according to claim 6, characterized in that: In S4.7, the corrective measures specifically include: If the attitude indicator shows that the steel cylinder is tilted forward and backward, the attitude of the steel cylinder is adjusted by controlling the position of the main operation ship; If the attitude indicator shows that the steel cylinder is tilted left or right, use the vertical lifting of the double hook of the crane to adjust the attitude of the steel cylinder; According to the real-time monitored attitude data, adjust the vibration and sinking parameters to adapt to the current geological conditions. The vibration and sinking parameters include vibration frequency, amplitude and duration; At key checkpoints, manual calibration is performed using a horizontal ruler and vertical hanging line to verify the attitude indicator data.

10. The verticality control method for underwater steel cylinder vibrating installation according to claim 1, characterized in that: The finite difference method is used to verify whether the correction scheme in the entire vibration sinking process is effective, including the following steps: S4.

8. Establish a dynamic model to describe the steel cylinder and its surrounding medium, and define the physical properties of the steel cylinder and the physical properties of the soil; S4.9, discretize the steel cylinder and the medium space around it into grid nodes; S4.10, discretize the time domain into a series of time steps; S4.

11. Use difference approximation to replace derivatives, obtain discretized finite difference equations, and impose appropriate boundary conditions on the grid boundaries; S4.

12. Use the actual measured attitude data as input to simulate the vibration and sinking process, including changes in pitch angle, roll angle and yaw angle; dynamically adjust simulation parameters according to the actual measured data, the simulation parameters include vibration frequency and amplitude, simulate the attitude changes during the vibration and sinking process, and compare with the actual measured data; S4.

13. According to the actual correction measures during the vibration and sinking process, set the corresponding simulation correction plan, including adjusting the position of the main operation ship and the height of the double hooks of the crane; S4.

14. Apply the set deviation correction scheme in the numerical simulation, simulate the vibration sinking process after the deviation correction, observe the simulation results, and analyze the effect of the deviation correction scheme; S4.

15. Compare the simulation results with the actual measurement data to evaluate the effectiveness of the correction scheme. Calculate the error between the simulation results and the actual measurement data to evaluate the accuracy of the simulation results.

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