Cement mixing pile anti-disturbance construction system and method based on dynamic regulation and control

Abstract

The invention discloses a cement mixing pile anti-disturbance construction system and method based on dynamic regulation and control. The construction system comprises a multi-parameter sensor group module, a data acquisition and transmission module, a dynamic feedback algorithm module, an actuator module, a control feedback module and a data storage and analysis module. On the basis of a dynamic feedback algorithm module, the rotating speed, the lifting speed and the grouting pressure of a drill bit can be automatically adjusted according to feedback data such as the construction depth and the soil body resistance, meanwhile, dynamic parameter optimization is achieved through layered control logic and a nonlinear coupling equation, deep soil body disturbance suppression is achieved, and construction safety is guaranteed; based on the control feedback module, whether a drill bit enters an adjacent pipeline area or not can be automatically recognized according to data of an earth pressure gauge and data of a torque sensor, if yes, an alarm device is triggered, the rotating speed is automatically reduced, or whether the drill bit enters the junction of soft and hard soil or not is recognized, and if yes, a pulse grouting frequency self-adaptive mechanism is started, and an actuator is automatically regulated and controlled.

Description

Technical Field

[0001] The invention belongs to the technical field of cement pile construction, and in particular relates to a cement mixing pile anti-disturbance construction system and method based on dynamic regulation. Background Art

[0002] Cement mixing pile is a foundation improvement technology widely used in foundation treatment, soft soil reinforcement and pile foundation engineering. Its core principle is to fully mix cement slurry or other curing agent with the original foundation soil through mechanical mixing to form a cement soil pile with certain strength and stability. The technical principle of cement mixing pile is as follows: ① Mixing: Inject cement slurry into the soil through the drill bit, and use spiral blades or mixing blades to fully mix the soil and cement slurry; ② Solidification reaction: The cement slurry reacts with the water in the soil to generate hydration products (such as ettringite, calcium silicate gel, etc.), which consolidate and harden the soil to form a cement-soil pile with a certain strength; ③Pile function: Cement mixing piles can improve the bearing capacity of the foundation, reduce settlement, enhance soil stability, and have certain anti-seepage performance.

[0003] During the construction of traditional cement mixing piles, when the mixing drill bit rotates in the soil and sprays grout, it is easy to cause disturbances due to the following reasons: the drill bit rotation torque is too large or the lifting speed is uneven, which damages the surrounding soil structure; the grouting pressure fluctuations cause uneven slurry distribution and form pile defects; when adjacent piles are constructed, cracks appear in the formed pile body due to secondary disturbance.

[0004] Existing technologies mostly rely on experience to adjust construction parameters, lack real-time dynamic control capabilities, and are difficult to effectively control disturbances. For example, Chinese invention patent CN117090206B discloses "An intelligent control system and control method for cement mixing pile construction", which mainly ensures efficient use of energy by real-time monitoring of construction parameters and intelligent analysis and control of the construction process. It focuses on solving the control of energy use and does not have the function and effect of anti-disturbance. Summary of the invention

[0005] The main purpose of the present invention is to provide a cement mixing pile anti-disturbance construction system and method based on dynamic regulation, so as to solve the problems existing in the prior art and realize anti-disturbance by dynamically regulating the construction of cement mixing piles.

[0006] In order to achieve the above object, the solution of the present invention is: A cement mixing pile anti-disturbance construction system based on dynamic control, comprising a multi-parameter sensor group module, a data acquisition and transmission module, a dynamic feedback algorithm module, an actuator module, a control feedback module and a data storage and analysis module; the multi-parameter sensor group module is used to collect monitoring data in real time, and includes a torque sensor, an earth pressure gauge and an inclinometer; the torque sensor is used to monitor the drill torque; the earth pressure gauge is used to monitor the drill pressure; the inclinometer is used to monitor the drill inclination; the data acquisition and transmission module is used to receive the monitoring data of the multi-parameter sensor group module and transmit it to the dynamic feedback algorithm module; the dynamic feedback algorithm module collects the monitoring data according to the monitoring data and the construction depth , soil resistance, adjacent pipeline areas, and feedback data at the junction of soft and hard soils, automatically adjust the control parameters including drill speed, lifting speed and grouting pressure and output control instructions, and use hierarchical control logic and nonlinear coupling equations to achieve dynamic optimization of control parameters; the actuator module adjusts the drill speed, lifting speed and grouting speed according to the control instructions output by the dynamic feedback algorithm module; the control feedback module feeds back the adjusted control parameters to the multi-parameter sensor group module through closed-loop control to achieve dynamic optimization of the construction process; the data storage and analysis module is used to store monitoring data and control parameters during the construction process, and generate a construction report.

[0007] And a cement mixing pile anti-disturbance construction method based on dynamic regulation, using the construction system, including the following steps: S1. Deploy the torque sensor, soil pressure gauge, inclinometer of the multi-parameter sensor module on the drill bit and the rotating rod of the cement mixing pile, and check the corresponding signal connection to ensure normal communication; S2. Start the multi-parameter sensor group module to collect construction depth in real time , drill pipe torque , soil pressure and drill bit inclination data, Represents the current time; S3. According to the formula , combined with the drill cross-sectional area Calculate current construction depth Soil resistance ; S4. The monitoring data of the multi-parameter sensor group module is transmitted to the dynamic feedback algorithm module through the data acquisition and transmission module; if the data is normal, the dynamic feedback algorithm module is executed, and the process jumps to step S5; if the data of three consecutive sampling points exceeds the preset threshold, the control feedback module is executed, and the process jumps to step S9; S5. Apply the preset drill speed control equation to dynamically adjust the speed to compensate for the influence of resistance and depth; apply the preset lifting speed feedback equation to exponentially reduce the lifting speed close to the critical resistance; apply the preset grouting pressure coupling equation to dynamically balance the grouting pressure and construction speed; S6. Applying the preset drill speed PID control equation, the drill speed deviation is corrected in real time through the PID algorithm; S7. Adjusting control parameters according to a preset fuzzy rule base to balance efficiency and stability; S8. Check the hard constraints of the safety layer, verify whether the drill power exceeds the limit and whether the soil shear rate exceeds the threshold; S9. Detect the area near the pipeline and calculate the soil pressure gradient. If it exceeds the preset threshold, reduce the drill speed to 50%-70% of the rated value and alarm. Identify the interface between soft and hard soil and analyze the torque change rate. If it exceeds the preset threshold, start the pulse grouting mode and adjust the grouting frequency according to the preset frequency dynamic adjustment equation to extend the penetration time. S10 linkage actuator module, through the drive motor, hydraulic system, grouting pump linkage execution drill speed, lifting speed, grouting pressure control instructions; S11. When the construction depth is >15m and the soil resistance is <100kPa, reduce the drill speed to below 30rpm and the lifting speed to below 0.5m / min; S12. The adjusted control parameters are transmitted back to the multi-parameter sensor group module in real time to form a dynamic optimization closed loop.

[0008] The drill speed control equation in S5 is as follows: ; in, Represents the adjusted drill speed; Represents the base speed; represents the resistance response coefficient; represents the base soil resistance; represents the base of natural logarithms; represents the depth attenuation coefficient; The lifting speed feedback equation is as follows: ; in, Represents the adjusted lifting speed; Represents the maximum lifting speed; represents the critical resistance threshold; The grouting pressure coupling equation is as follows: ; in, represents the adjusted grouting pressure; represents the base grouting pressure; Represents the resistance adjustment coefficient, and its value is 0.02MPa / kPa; Represents the construction speed change rate adjustment coefficient, and its value is 0.1MPa·min / m; Represents the drill lifting speed.

[0009] Preferably, in S6, the drill speed PID control equation is as follows: ; ; in, Represents the drill speed adjustment amount; represents the proportional coefficient, and its value is 2.0; represents the integral coefficient, and its value is 0.5; represents the differential coefficient, and its value is 0.1; Represents the resistance deviation value; Represents the base soil resistance.

[0010] Preferably, the fuzzy rule base preset in S7 is: If the soil resistance is too high and the construction excavation speed is too fast, the excavation speed will be reduced by 20% and the grouting pressure will be increased by 15%; if the excavation depth is greater than 15m and the soil resistance is less than 100kPa, it will be switched to low disturbance mode.

[0011] In S8, the safety layer hard constraint is the minimum lifting speed The maximum drill speed is 0.3m / min 120rpm, maximum soil pressure It is 3.0MPa.

[0012] In S9, the adjacent pipeline area is determined based on the sudden change in the data of the soil pressure gauge, and the formula is as follows: ; in, Represents the amplitude of soil pressure change; , The adjacent depths , The soil pressure gauge reading at When it is determined to be near the pipeline area, Represents the preset soil pressure change amplitude threshold, which is 20kPa / m according to pipeline industry specifications; The torque change rate is calculated as follows: ; in, represents the rate of change of torque with depth; , The adjacent depths , The torque value at It is judged as entering the boundary between soft and hard soil. It represents the preset soft-hard soil boundary judgment threshold, which is 50N·m / m based on the typical soil layer torque change test data.

[0013] The frequency dynamic adjustment equation is as follows: ; in, represents the adjusted frequency; represents the base frequency; represents the adjustment coefficient; Represents the maximum design resistance; when The forced locking frequency is 0.2Hz.

[0014] After adopting the above technical solution, the present invention has the following technical effects: The construction system of the present invention is based on a dynamic feedback algorithm module, and can automatically adjust the drill bit rotation speed, lifting speed and grouting pressure according to feedback data such as construction depth and soil resistance, and at the same time adopts hierarchical control logic and nonlinear coupling equations to realize dynamic optimization of parameters, realize deep soil disturbance suppression, and ensure construction safety; the present invention is based on a control feedback module, and can automatically identify whether the drill bit enters the adjacent pipeline area according to soil pressure gauge data and torque sensor data. If so, an alarm device is triggered to automatically reduce the rotation speed, or identify whether the drill bit enters the junction of soft and hard soil. If so, a pulse grouting frequency adaptive mechanism is started to automatically control the actuator to reduce the disturbance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The mixing pile of the specific embodiment of the present invention is three-dimensional Figure 1 .

[0016] Figure 2 The mixing pile of the specific embodiment of the present invention is three-dimensional Figure 2 .

[0017] Figure 3 A system block diagram of a specific embodiment of the present invention.

[0018] Description of Figure Numbers: 1-rotating rod; 2-drill bit; 3-external spiral blade; 31-spiral tooth; 4-inner spiral blade; 5-grouting port; 6-sealing seat; 10-multi-parameter sensor group module; 20-data acquisition and transmission module; 30-dynamic feedback algorithm module; 40-actuator module; 50-control feedback module; 60-data storage and analysis module. DETAILED DESCRIPTION

[0019] In order to further explain the technical solution of the present invention, the present invention is described in detail below through specific embodiments.

[0020] refer to Figure 1-2 As shown, the present invention discloses a cement mixing pile, including a rotating rod 1, a drill bit 2 is welded and fixed at the bottom of the rotating rod 1, and a mixing assembly is arranged on the outside of the drill bit 2; the mixing assembly includes a plurality of outer spiral blades 3 and inner spiral blades 4 distributed in a circular array on the outside of the drill bit 2, the blade radius of the outer spiral blade 3 is larger than that of the inner spiral blade 4, and the outer spiral blade 3 is arranged above and below the inner spiral blade 4; at least three groups of grouting ports 5 distributed in a circular array are arranged on the outer side of the upper end of the drill bit 2.

[0021] Through the above scheme, the cement mixing pile of the present invention adopts a split spiral blade design, and the outer side of the drill bit 2 is provided with an outer spiral blade 3 and an inner spiral blade 4, a total of two layers, the outer spiral blade 3 (coarse spiral) is used for preliminary crushing of the soil, and the inner spiral blade 4 (fine spiral) can realize secondary mixing, thereby reducing the torque of a single mixing, thereby reducing the disturbance of the surrounding soil and the crack rate of the adjacent pile body, and can further protect the structure around the cement mixing pile during construction, avoiding unnecessary cracks and damage caused by construction.

[0022] A specific embodiment of the above-mentioned cement mixing pile is shown below.

[0023] The outer spiral blades 3 and the inner spiral blades 4 are both fixed to the outer side of the drill bit 2 by welding.

[0024] A hydraulic damper is embedded inside the rotating rod 1 to dynamically absorb vibration energy during construction, suppress mechanical impact of the drill bit 2 caused by sudden changes in soil resistance, and protect the structural integrity of adjacent piles.

[0025] A sealing seat 6 is installed between the grouting port 5 and the drill bit 2 to prevent slurry leakage, improve grouting efficiency and reduce penetration disturbance to the surrounding soil.

[0026] The upper end of each outer spiral blade 3 on the outside of the drill bit 2 is provided with a plurality of spiral teeth 31, and the plurality of spiral teeth 31 are distributed at equal intervals, and the outer spiral blade 3 and the spiral teeth 31 are integrally formed. The design of these spiral teeth 31 further enhances the stirring effect of the outer spiral blade 3, so that the soil can be cut and mixed more effectively during the stirring process, thereby enhancing the soil crushing efficiency and reducing the energy loss when the drill bit 2 rotates. The equally spaced distribution of the spiral teeth 31 ensures the uniformity of stirring and avoids the situation where the soil is not fully stirred in some parts. At the same time, the integrally formed outer spiral blade 3 and spiral teeth 31 not only improve the stability of the structure, but also simplify the manufacturing process and reduce the cost. In practical applications, cement mixing piles of this design can significantly improve construction efficiency and ensure project quality.

[0027] Furthermore, the helical teeth 31 are arranged along the axial direction of the drill bit 2 .

[0028] The blade pitch of the outer spiral blade 3 is 300 mm, and the blade pitch of the inner spiral blade 4 is 150 mm.

[0029] refer to Figure 3 As shown, the present invention also discloses a cement mixing pile anti-disturbance construction system based on dynamic control, which can be applied to the cement mixing piles in the prior art, or the cement mixing piles with improved structure mentioned above, which includes a multi-parameter sensor group module 10, a data acquisition and transmission module 20, a dynamic feedback algorithm module 30, an actuator module 40, a control feedback module 50 and a data storage and analysis module 60; The multi-parameter sensor group module 10 is used to collect monitoring data in real time, and includes a torque sensor, an earth pressure gauge and an inclinometer; the torque sensor is used to monitor the drill torque; the earth pressure gauge is used to monitor the drill pressure; the inclinometer is used to monitor the drill inclination; The data acquisition and transmission module 20 is used to receive the monitoring data of the multi-parameter sensor group module 10 and transmit it to the dynamic feedback algorithm module 30; The dynamic feedback algorithm module 30 automatically adjusts the control parameters including the drill speed, lifting speed and grouting pressure and outputs control instructions based on the monitoring data and the feedback data of the construction depth, soil resistance, adjacent pipeline area and the interface between soft and hard soil, and adopts hierarchical control logic and nonlinear coupling equations to realize dynamic optimization of control parameters; The actuator module 40 adjusts the drill speed, lifting speed, and grouting speed according to the control instructions output by the dynamic feedback algorithm module 30; The control feedback module 50 feeds back the adjusted control parameters to the multi-parameter sensor group module 10 through a closed-loop control method to achieve dynamic optimization of the construction process; The data storage and analysis module 60 is used to store monitoring data and control parameters during the construction process and generate a construction report.

[0030] Through the above scheme, the construction system of the present invention is based on the dynamic feedback algorithm module 30, and can automatically adjust the drill speed, lifting speed and grouting pressure according to feedback data such as construction depth and soil resistance, and at the same time adopt hierarchical control logic and nonlinear coupling equations to realize dynamic optimization of parameters, realize deep soil disturbance suppression, and ensure construction safety; the present invention is based on the control feedback module 50, and can automatically identify whether the drill bit enters the adjacent pipeline area according to the soil pressure gauge data and torque sensor data. If so, the alarm device is triggered to automatically reduce the speed, or identify whether the drill bit enters the junction of soft and hard soil. If so, the pulse grouting frequency adaptive mechanism is started to automatically control the actuator to reduce the disturbance.

[0031] In addition, if the construction system is combined with the above-mentioned cement mixing piles to achieve a deep integration of the split drill bit structure and the dynamic feedback intelligent system, it can solve the pain points of large disturbances and reliance on experience-based adjustments in traditional cement mixing pile construction, thereby achieving high-precision, low-disturbance, and fully automated construction control. Its innovation is reflected in the coordination of mechanical structure optimization and intelligent algorithms, providing an efficient and safe solution for foundation treatment under complex geological conditions.

[0032] The present invention also discloses a construction method using the above construction system, comprising the following steps: S1. Deploy the multi-parameter sensor group module 10 of the torque sensor, soil pressure gauge, inclinometer on the drill bit and rotating rod of the cement mixing pile, and check the corresponding signal connection to ensure normal communication; S2. Start the multi-parameter sensor group module 10 to collect construction depth in real time , drill pipe torque , soil pressure and drill bit inclination data, Represents the current time; S3. According to the formula , combined with the drill cross-sectional area Calculate current construction depth Soil resistance ; S4. The monitoring data of the multi-parameter sensor group module 10 is transmitted to the dynamic feedback algorithm module 30 through the data acquisition and transmission module 20; if the data is normal, the dynamic feedback algorithm module 30 is executed, and the process jumps to step S5; if the data of three consecutive sampling points exceeds the preset threshold, the control feedback module 50 is executed, and the process jumps to step S9; S5. Apply the preset drill speed control equation to dynamically adjust the speed to compensate for the influence of resistance and depth; apply the preset lifting speed feedback equation to exponentially reduce the lifting speed close to the critical resistance; apply the preset grouting pressure coupling equation to dynamically balance the grouting pressure and construction speed; S6. Applying the preset drill speed PID control equation, the drill speed deviation is corrected in real time through the PID algorithm; S7. Adjusting control parameters according to a preset fuzzy rule base to balance efficiency and stability; S8. Check the hard constraints of the safety layer, verify whether the drill power exceeds the limit and whether the soil shear rate exceeds the threshold; S9. Detect the area near the pipeline and calculate the soil pressure gradient. If it exceeds the preset threshold, reduce the drill speed to 50%-70% of the rated value and alarm. Identify the interface between soft and hard soil and analyze the torque change rate. If it exceeds the preset threshold, start the pulse grouting mode and adjust the grouting frequency according to the preset frequency dynamic adjustment equation to extend the penetration time. S10 linkage actuator module 40, through the drive motor, hydraulic system, grouting pump linkage execution drill speed, lifting speed, grouting pressure control instructions; S11. When the construction depth is >15m and the soil resistance is <100kPa, reduce the drill speed to below 30rpm and the lifting speed to below 0.5m / min; S12. The adjusted control parameters are transmitted back to the multi-parameter sensor group module 10 in real time to form a dynamic optimization closed loop.

[0033] Specifically, the drill speed control equation in S5 above is as follows: ; in, Represents the adjusted drill speed; Represents the base speed (e.g. 50rpm); represents the resistance response coefficient (e.g. 0.3); represents the base soil resistance (e.g. 150 kPa); represents the base of natural logarithms; Represents the depth attenuation coefficient (such as 0.05m -1 ); The lifting speed feedback equation is as follows: ; in, Represents the adjusted lifting speed; Represents the maximum lifting speed (such as 1.2m / min); represents the critical resistance threshold (e.g. 200 kPa); The grouting pressure coupling equation is as follows: ; in, represents the adjusted grouting pressure; Represents the benchmark grouting pressure (e.g. 1.5MPa); Represents the resistance adjustment coefficient, and its value is 0.02MPa / kPa; Represents the construction speed change rate adjustment coefficient, and its value is 0.1MPa·min / m; Represents the drill lifting speed.

[0034] Furthermore, in the above S6, the drill speed PID control equation is as follows: ; ; in, Represents the drill speed adjustment amount; represents the proportional coefficient, and its value is 2.0; represents the integral coefficient, and its value is 0.5; represents the differential coefficient, and its value is 0.1; Represents the resistance deviation value (unit: kPa); Represents the base soil resistance (unit: kPa).

[0035] At the same time, the fuzzy rule base preset in the above S7 is: If the soil resistance is too high and the construction excavation speed is too fast, the excavation speed will be reduced by 20% and the grouting pressure will be increased by 15%; if the excavation depth is greater than 15m and the soil resistance is less than 100kPa, it will be switched to low disturbance mode.

[0036] In the above S8, the safety layer hard constraint is the minimum lifting speed The maximum drill speed is 0.3m / min 120rpm, maximum soil pressure It is 3.0MPa.

[0037] In the above S9, the adjacent pipeline area is determined based on the sudden change of the data of the soil pressure gauge, and the formula is as follows: ; in, Represents the amplitude of soil pressure change; , The adjacent depths , The soil pressure gauge reading at When it is determined to be near the pipeline area, Represents the preset soil pressure change amplitude threshold, which is 20kPa / m according to pipeline industry specifications; The torque change rate is calculated as follows: ; in, Represents the rate of change of torque with depth (unit: N·m / m); , The adjacent depths , The torque value at It is judged as entering the boundary between soft and hard soil. It represents the preset soft-hard soil boundary judgment threshold, which is 50N·m / m based on the typical soil layer torque change test data.

[0038] Furthermore, the above frequency dynamic adjustment equation is as follows: ; in, represents the adjusted frequency; Represents the base frequency (such as 0.5Hz); represents the adjustment coefficient (e.g. 0.3); represents the maximum design resistance (such as 300kPa); when The forced locking frequency is 0.2Hz.

[0039] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. A cement mixing pile anti-disturbance construction system based on dynamic regulation, characterized by: It includes a multi-parameter sensor group module, a data acquisition and transmission module, a dynamic feedback algorithm module, an actuator module, a control feedback module and a data storage and analysis module; The multi-parameter sensor group module is used to collect monitoring data in real time, and includes a torque sensor, an earth pressure gauge and an inclinometer; the torque sensor is used to monitor the drill bit torque; Soil pressure gauges are used to monitor drill bit pressure; Inclinometers are used to monitor the inclination of the drill bit; The data acquisition and transmission module is used to receive the monitoring data of the multi-parameter sensor group module and transmit it to the dynamic feedback algorithm module; The dynamic feedback algorithm module automatically adjusts the control parameters including drill bit speed, lifting speed and grouting pressure and outputs control instructions based on the monitoring data and feedback data of construction depth, soil resistance, adjacent pipeline area and soft and hard soil interface, and uses hierarchical control logic and nonlinear coupling equations to achieve dynamic optimization of control parameters; The actuator module adjusts the drill speed, lifting speed and grouting speed according to the control instructions output by the dynamic feedback algorithm module; The control feedback module feeds back the adjusted control parameters to the multi-parameter sensor group module through a closed-loop control method to achieve dynamic optimization of the construction process; The data storage and analysis module is used to store monitoring data and control parameters during the construction process and generate a construction report.

2. A method for preventing disturbance of cement mixing piles based on dynamic control, using the system for preventing disturbance of cement mixing piles based on dynamic control as claimed in claim 1, characterized in that The following steps are involved: S1. Deploy the torque sensor, soil pressure gauge, inclinometer of the multi-parameter sensor module on the drill bit and the rotating rod of the cement mixing pile, and check the corresponding signal connection to ensure normal communication; S2. Start the multi-parameter sensor group module to collect construction depth in real time , drill pipe torque , soil pressure and drill bit inclination data, Represents the current time; S3. According to the formula , combined with the drill cross-sectional area Calculate current construction depth Soil resistance ; S4. The monitoring data of the multi-parameter sensor group module is transmitted to the dynamic feedback algorithm module through the data acquisition and transmission module; if the data is normal, the dynamic feedback algorithm module is executed, and the process jumps to step S5; If the data of three consecutive sampling points exceeds the preset threshold, the control feedback module is executed, and the process jumps to step S9; S5. Applying a preset drill speed control equation to dynamically adjust the speed to compensate for the effects of resistance and depth; applying a preset lifting speed feedback equation to exponentially reduce the lifting speed close to the critical resistance; Apply the preset grouting pressure coupling equation to dynamically balance the grouting pressure and construction speed; S6. Applying the preset drill speed PID control equation, the drill speed deviation is corrected in real time through the PID algorithm; S7. Adjusting control parameters according to a preset fuzzy rule base to balance efficiency and stability; S8. Check the hard constraints of the safety layer, verify whether the drill power exceeds the limit and whether the soil shear rate exceeds the threshold; S9. Detect the area near the pipeline and calculate the soil pressure gradient. If it exceeds the preset threshold, reduce the drill speed to 50%-70% of the rated value and alarm. Identify the interface between soft and hard soil and analyze the torque change rate. If it exceeds the preset threshold, start the pulse grouting mode and adjust the grouting frequency according to the preset frequency dynamic adjustment equation to extend the penetration time. S10 linkage of the actuator module, through the drive motor, hydraulic system, grouting pump linkage execution drill speed, lifting speed, grouting pressure control instructions; S11. When the construction depth is >15m and the soil resistance is <100kPa, reduce the drill speed to below 30rpm and the lifting speed to below 0.5m / min; S12. The adjusted control parameters are transmitted back to the multi-parameter sensor group module in real time to form a dynamic optimization closed loop.

3. The anti-disturbance construction method for cement mixing piles based on dynamic control as claimed in claim 2, characterized in that: The drill speed control equation in S5 is as follows: ； in, Represents the adjusted drill speed; Represents the base speed; represents the resistance response coefficient; represents the base soil resistance; represents the base of natural logarithms; represents the depth attenuation coefficient; The lifting speed feedback equation is as follows: ； in, Represents the adjusted lifting speed; Represents the maximum lifting speed; represents the critical resistance threshold; The grouting pressure coupling equation is as follows: ； in, represents the adjusted grouting pressure; represents the base grouting pressure; Represents the resistance adjustment coefficient, and its value is 0.02MPa / kPa; Represents the construction speed change rate adjustment coefficient, and its value is 0.1MPa·min / m; Represents the drill lifting speed.

4. The method for anti-disturbance construction of cement mixing piles based on dynamic control as claimed in claim 3, characterized in that: In S6, the drill speed PID control equation is as follows: ； ； in, Represents the drill speed adjustment amount; represents the proportional coefficient, and its value is 2.0; represents the integral coefficient, and its value is 0.5; represents the differential coefficient, and its value is 0.1; Represents the resistance deviation value; Represents the base soil resistance.

5. The anti-disturbance construction method for cement mixing piles based on dynamic control as claimed in claim 3, characterized in that: The fuzzy rule base preset in S7 is: If the soil resistance is too high and the construction excavation speed is too fast, the excavation speed will be reduced by 20% and the grouting pressure will be increased by 15%; if the excavation depth is greater than 15m and the soil resistance is less than 100kPa, it will be switched to low disturbance mode.

6. The anti-disturbance construction method for cement mixing piles based on dynamic control as claimed in claim 2, characterized in that: In S8, the safety layer hard constraint is the minimum lifting speed The maximum drill speed is 0.3m / min 120rpm, maximum soil pressure It is 3.0MPa.

7. The anti-disturbance construction method for cement mixing piles based on dynamic control as claimed in claim 2, characterized in that: In S9, the adjacent pipeline area is determined based on the sudden change in the data of the soil pressure gauge, and the formula is as follows: ； in, Represents the amplitude of soil pressure change; , The adjacent depths , The soil pressure gauge reading at When it is determined to be near the pipeline area, Represents the preset soil pressure change amplitude threshold, which is 20kPa / m according to pipeline industry specifications; The torque change rate is calculated as follows: ； in, represents the rate of change of torque with depth; , The adjacent depths , The torque value at It is judged as entering the boundary between soft and hard soil. It represents the preset soft-hard soil boundary judgment threshold, which is 50N·m / m based on the typical soil layer torque change test data.

8. The method for anti-disturbance construction of cement mixing piles based on dynamic control as claimed in claim 7, characterized in that: The frequency dynamic adjustment equation is as follows: ； in, represents the adjusted frequency; represents the base frequency; represents the adjustment coefficient; Represents the maximum design resistance; when The forced locking frequency is 0.2Hz.

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