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

Abstract

The present invention discloses a system and method for anti-disturbance construction of cement mixing piles based on dynamic control. The construction system 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. Based on the dynamic feedback algorithm module, the present invention can automatically adjust the drill bit speed, lifting speed, and grouting pressure according to feedback data such as construction depth and soil resistance. At the same time, it adopts hierarchical control logic and nonlinear coupling equations to achieve dynamic parameter optimization, realize deep soil disturbance suppression, and ensure construction safety. Based on the control feedback module, the present invention can automatically identify whether the drill bit has entered the adjacent pipeline area based on soil pressure gauge data and torque sensor data. If so, the alarm device is triggered to automatically reduce the speed. Alternatively, it can identify whether the drill bit has entered the boundary between soft and hard soil. If so, the pulse grouting frequency adaptive mechanism is activated to automatically control the actuator.

Description

Technical Field

[0001] The present 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 piles are a foundation improvement technology widely used in ground treatment, soft soil reinforcement, and pile foundation engineering. The core principle is to fully mix cement slurry or other curing agents with the original foundation soil through mechanical mixing to form a cement-soil pile with a certain strength and stability. The technical principle of cement mixing piles is as follows:

[0003] ① Mixing: Cement slurry is injected into the soil through the drill bit, and the soil and cement slurry are fully mixed by spiral blades or mixing blades;

[0004] ② Curing reaction: The cement slurry reacts with the water in the soil to produce 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;

[0005] ③Pile function: Cement mixing piles can improve the bearing capacity of the foundation, reduce settlement, enhance soil stability, and have certain anti-seepage performance.

[0006] During the construction of traditional cement mixing piles, when the mixing drill bit rotates in the soil and sprays grout, it is prone to disturbance due to the following reasons: excessive torque or uneven lifting speed of the drill bit, which damages the surrounding soil structure; fluctuations in grouting pressure lead to uneven slurry distribution, forming pile defects; when adjacent piles are constructed, cracks appear in the formed pile body due to secondary disturbance.

[0007] Existing technologies often rely on experience to adjust construction parameters, lacking real-time dynamic control capabilities and making it difficult to effectively control disturbances. For example, Chinese invention patent CN117090206B discloses "An Intelligent Control System and Control Method for Cement Mixing Pile Construction." This system primarily ensures efficient energy utilization by monitoring construction parameters in real time and intelligently analyzing and controlling the construction process. While its focus is on energy management and control, it lacks anti-disturbance capabilities and effectiveness. Summary of the Invention

[0008] The main purpose of the present invention is to provide a cement mixing pile anti-disturbance construction system and method based on dynamic regulation to solve the problems existing in the prior art and achieve anti-disturbance by dynamically regulating the construction of cement mixing piles.

[0009] In order to achieve the above object, the solution of the present invention is:

[0010] A cement mixing pile anti-disturbance construction system based on dynamic control, including 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, a soil pressure gauge and an inclinometer; the torque sensor is used to monitor the drill bit torque; the soil pressure gauge is used to monitor the drill bit pressure; the inclinometer is used to monitor the drill bit 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 is used to collect monitoring data according to the monitoring data and the construction depth. , soil resistance, adjacent pipeline areas, and feedback data from the interface between soft and hard soils, automatically adjust the control parameters including drill bit speed, lifting speed, and grouting pressure and output control instructions, while adopting hierarchical control logic and nonlinear coupling equations to realize dynamic optimization of control parameters; the actuator module adjusts the drill bit 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 realize 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.

[0011] A method for anti-disturbance construction of cement mixing piles based on dynamic regulation is provided, which uses the construction system and includes the following steps:

[0012] S1. Deploy the torque sensor, soil pressure gauge, inclinometer of the multi-parameter sensor module of the cement mixing pile drill bit and the rotary rod, and check the corresponding signal connections to ensure normal communication;

[0013] S2. Start the multi-parameter sensor module to collect construction depth in real time , drill pipe torque , soil pressure and drill bit inclination data, Represents the current time;

[0014] S3. According to the formula , combined with the drill cross-sectional area Calculate current construction depth Soil resistance ;

[0015] S4. The data acquisition and transmission module transmits the monitoring data from the multi-parameter sensor module to the dynamic feedback algorithm module. If the data is normal, the dynamic feedback algorithm module is executed, and the process jumps to step S5. If the data at three consecutive sampling points exceeds the preset threshold, the control feedback module is executed, and the process jumps to step S9.

[0016] S5. Apply a preset drill speed control equation to dynamically adjust the speed to compensate for the effects of resistance and depth. Apply a preset lifting speed feedback equation to exponentially reduce the lifting speed near the critical resistance. Apply a preset grouting pressure coupling equation to dynamically balance grouting pressure and construction speed.

[0017] S6. Applying a preset drill speed PID control equation, the drill speed deviation is corrected in real time using a PID algorithm;

[0018] S7. Adjust control parameters based on a pre-set fuzzy rule base to balance efficiency and stability;

[0019] S8. Check the safety layer hard constraints, verify whether the drill power exceeds the limit, and whether the soil shear rate exceeds the threshold;

[0020] S9. Detects areas adjacent to pipelines and calculates the earth pressure gradient. If it exceeds a preset threshold, the drill speed is reduced to 50%-70% of the rated value and an alarm is issued. The system also identifies the interface between soft and hard soil and analyzes the torque change rate. If it exceeds a preset threshold, pulse grouting is initiated, adjusting the grouting frequency according to a preset dynamic frequency adjustment equation to extend penetration time.

[0021] S10 linkage of the actuator module, through the drive motor, hydraulic system, grouting pump linkage execution drill speed, lifting speed, grouting pressure control instructions;

[0022] S11. When the construction depth is greater than 15m and the soil resistance is less than 100kPa, reduce the drill speed to below 30rpm and the lifting speed to below 0.5m / min;

[0023] S12. The adjusted control parameters are transmitted back to the multi-parameter sensor module in real time to form a dynamic optimization closed loop.

[0024] The drill speed control equation in S5 is as follows:

[0025] ;

[0026] 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;

[0027] The lifting speed feedback equation is as follows:

[0028] ;

[0029] in, Represents the adjusted lifting speed; Represents the maximum lifting speed; represents the critical resistance threshold;

[0030] The grouting pressure coupling equation is as follows:

[0031] ;

[0032] 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.

[0033] Preferably, in S6, the drill bit speed PID control equation is as follows:

[0034] ;

[0035] ;

[0036] in, Represents the drill speed adjustment amount; represents the scale factor, 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.

[0037] Preferably, the fuzzy rule base preset in S7 is:

[0038] 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, then it will be switched to low disturbance mode.

[0039] In S8, the safety layer hard constraint is the minimum lifting speed The maximum drill speed is 0.3m / min At 120rpm, the maximum soil pressure It is 3.0MPa.

[0040] 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:

[0041] ;

[0042] in, Represents the amplitude of soil pressure change; 、 Adjacent depths 、 The soil pressure gauge reading at When it is determined to be near the pipeline area, Represents the preset soil pressure change threshold, which is 20kPa / m according to pipeline industry standards;

[0043] The formula for calculating the torque change rate is as follows:

[0044] ;

[0045] in, represents the rate of change of torque with depth; 、 Adjacent depths 、 The torque value at It is judged to have entered the boundary between soft and hard land. Represents the preset threshold for judging the boundary between soft and hard soils. Based on the torque variation test data of typical soil layers, its value is 50 N·m / m.

[0046] The frequency dynamic adjustment equation is as follows:

[0047] ;

[0048] 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.

[0049] After adopting the above technical solution, the present invention has the following technical effects:

[0050] The construction system of the present invention is based on a dynamic feedback algorithm module, and can automatically adjust the drill bit speed, lifting speed and grouting pressure according to feedback data such as construction depth and soil resistance. At the same time, it adopts hierarchical control logic and nonlinear coupling equations to realize dynamic optimization of parameters, realize deep soil disturbance suppression, and ensure construction safety; based on the control feedback module, the present invention 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 activated to automatically control the actuator, thereby reducing the disturbance. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 The concrete embodiment of the present invention is a three-dimensional mixing pile Figure 1 .

[0052] Figure 2 The concrete embodiment of the present invention is a three-dimensional mixing pile Figure 2 .

[0053] Figure 3 A system block diagram of a specific embodiment of the present invention.

[0054] Description of Figure Numbers:

[0055] 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

[0056] In order to further explain the technical solution of the present invention, the present invention is described in detail below through specific embodiments.

[0057] 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 to 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 outer spiral blades 3 are 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 outside of the upper end of the drill bit 2.

[0058] 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 two layers of outer spiral blades 3 and inner spiral blades 4. The outer spiral blades 3 (coarse spiral) are used for preliminary crushing of the soil, and the inner spiral blades 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.

[0059] The specific embodiments of the above-mentioned cement mixing pile are shown below.

[0060] The outer spiral blades 3 and the inner spiral blades 4 are both fixed to the outside of the drill bit 2 by welding.

[0061] A hydraulic damper is embedded inside the rotating rod 1 to dynamically absorb vibration energy during construction, suppress the mechanical impact of the drill bit 2 caused by sudden changes in soil resistance, and protect the structural integrity of the adjacent pile.

[0062] 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.

[0063] 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 more effectively cut and mixed during the stirring process, thereby enhancing the soil crushing efficiency and reducing the energy loss when the drill bit 2 rotates. The equal spacing of the spiral teeth 31 ensures the uniformity of the 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 costs. In actual application, cement mixing piles of this design can significantly improve construction efficiency and ensure the quality of the project.

[0064] Furthermore, the helical teeth 31 are arranged along the axial direction of the drill bit 2 .

[0065] 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.

[0066] refer to Figure 3As 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, and 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;

[0067] The multi-parameter sensor group module 10 is used to collect monitoring data in real time, and includes a torque sensor, a soil pressure gauge and an inclinometer; the torque sensor is used to monitor the drill bit torque; the soil pressure gauge is used to monitor the drill bit pressure; the inclinometer is used to monitor the drill bit inclination;

[0068] 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;

[0069] The dynamic feedback algorithm module 30 automatically adjusts control parameters including drill bit speed, lifting speed, and grouting pressure based on monitoring data and feedback data on construction depth, soil resistance, adjacent pipeline areas, and the interface between soft and hard soil, and outputs control instructions. It also uses hierarchical control logic and nonlinear coupling equations to achieve dynamic optimization of control parameters.

[0070] The actuator module 40 adjusts the drill bit speed, lifting speed, and grouting speed according to the control instructions output by the dynamic feedback algorithm module 30;

[0071] The control feedback module 50 feeds back the adjusted control parameters to the multi-parameter sensor group module 10 through closed-loop control to achieve dynamic optimization of the construction process;

[0072] 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.

[0073] Through the above scheme, the construction system of the present invention is based on the dynamic feedback algorithm module 30, which can automatically adjust the drill bit 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, which 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.

[0074] In addition, if this 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.

[0075] The present invention also discloses a construction method using the above construction system, comprising the following steps:

[0076] S1 deploy multi-parameter sensor module 10 torque sensor, soil pressure gauge, inclinometer on the drill bit and rotary rod of the cement mixing pile, and check the corresponding signal connections to ensure normal communication;

[0077] S2. Start the multi-parameter sensor module 10 to collect construction depth in real time , drill pipe torque , soil pressure and drill bit inclination data, Represents the current time;

[0078] S3. According to the formula , combined with the drill cross-sectional area Calculate current construction depth Soil resistance ;

[0079] S4. The data acquisition and transmission module 20 transmits the monitoring data from the multi-parameter sensor group module 10 to the dynamic feedback algorithm module 30. If the data is normal, the dynamic feedback algorithm module 30 is executed, and the process jumps to step S5. If the data at three consecutive sampling points exceeds the preset threshold, the control feedback module 50 is executed, and the process jumps to step S9.

[0080] S5. Apply a preset drill speed control equation to dynamically adjust the speed to compensate for the effects of resistance and depth. Apply a preset lifting speed feedback equation to exponentially reduce the lifting speed near the critical resistance. Apply a preset grouting pressure coupling equation to dynamically balance grouting pressure and construction speed.

[0081] S6. Applying a preset drill speed PID control equation, the drill speed deviation is corrected in real time using a PID algorithm;

[0082] S7. Adjust control parameters based on a pre-set fuzzy rule base to balance efficiency and stability;

[0083] S8. Check the safety layer hard constraints, verify whether the drill power exceeds the limit, and whether the soil shear rate exceeds the threshold;

[0084] S9. Detects areas adjacent to pipelines and calculates the earth pressure gradient. If it exceeds a preset threshold, the drill speed is reduced to 50%-70% of the rated value and an alarm is issued. The system also identifies the interface between soft and hard soil and analyzes the torque change rate. If it exceeds a preset threshold, pulse grouting is initiated, adjusting the grouting frequency according to a preset dynamic frequency adjustment equation to extend penetration time.

[0085] S10 linkage actuator module 40, through the drive motor, hydraulic system, grouting pump linkage execution drill speed, lifting speed, grouting pressure control instructions;

[0086] S11. When the construction depth is greater than 15m and the soil resistance is less than 100kPa, reduce the drill speed to below 30rpm and the lifting speed to below 0.5m / min;

[0087] S12. The adjusted control parameters are transmitted back to the multi-parameter sensor module 10 in real time, forming a dynamic optimization closed loop.

[0088] Specifically, the drill speed control equation in S5 above is as follows:

[0089] ;

[0090] 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 );

[0091] The lifting speed feedback equation is as follows:

[0092] ;

[0093] 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);

[0094] The grouting pressure coupling equation is as follows:

[0095] ;

[0096] 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.

[0097] Furthermore, in the above S6, the drill speed PID control equation is as follows:

[0098] ;

[0099] ;

[0100] in, Represents the drill speed adjustment amount; represents the scale factor, 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).

[0101] At the same time, the fuzzy rule base preset in the above S7 is:

[0102] 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, then it will be switched to low disturbance mode.

[0103] In the above S8, the safety layer hard constraint is the minimum lifting speed The maximum drill speed is 0.3m / min At 120rpm, the maximum soil pressure It is 3.0MPa.

[0104] In the above S9, the area adjacent to the pipeline is determined based on the sudden change in the data of the soil pressure gauge. The formula is as follows:

[0105] ;

[0106] in, Represents the amplitude of soil pressure change; 、 Adjacent depths 、 The soil pressure gauge reading at When it is determined to be near the pipeline area, Represents the preset soil pressure change threshold, which is 20kPa / m according to pipeline industry standards;

[0107] The formula for calculating the torque change rate is as follows:

[0108] ;

[0109] in, Represents the rate of change of torque with depth (unit: N·m / m); 、 Adjacent depths 、 The torque value at It is judged to have entered the boundary between soft and hard land. Represents the preset threshold for judging the boundary between soft and hard soils. Based on the torque variation test data of typical soil layers, its value is 50 N·m / m.

[0110] Furthermore, the above frequency dynamic adjustment equation is as follows:

[0111] ;

[0112] 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.

[0113] 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 method for preventing disturbances in cement mixing pile construction based on dynamic control, employing a system for preventing disturbances in cement mixing pile construction based on dynamic control, comprising a multi-parameter sensor 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 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 drill torque; Soil pressure gauges are used to monitor drill bit pressure; The inclinometer is 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 the drill bit speed, lifting speed and grouting pressure and outputs control instructions based on the monitoring data and feedback data of the construction depth, soil resistance, adjacent pipeline area, and the junction of soft and hard soil, and adopts hierarchical control logic and nonlinear coupling equations to realize dynamic optimization of the control parameters; the actuator module adjusts the drill bit 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 realize dynamic optimization of the construction process; the data storage and analysis module is used to store the monitoring data and control parameters during the construction process and generate a construction report; it is characterized by comprising the following steps: S1. Deploy the torque sensor, soil pressure gauge, inclinometer of the multi-parameter sensor module of the cement mixing pile drill bit and the rotary rod, and check the corresponding signal connections to ensure normal communication; S2. Start the multi-parameter sensor 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 data acquisition and transmission module transmits the monitoring data from the multi-parameter sensor module to the dynamic feedback algorithm module. If the data is normal, the dynamic feedback algorithm module is executed, and the process jumps to step S5. If the data at three consecutive sampling points exceeds the preset threshold, the control feedback module is executed, and the process jumps to step S9. S5. Apply a preset drill speed control equation to dynamically adjust the speed to compensate for the effects of resistance and depth. Apply a preset lifting speed feedback equation to exponentially reduce the lifting speed near the critical resistance. Apply a preset grouting pressure coupling equation to dynamically balance grouting pressure and construction speed. S6. Applying a preset drill speed PID control equation, the drill speed deviation is corrected in real time using a PID algorithm; S7. Adjust control parameters based on a pre-set fuzzy rule base to balance efficiency and stability; S8. Check the safety layer hard constraints, verify whether the drill power exceeds the limit, and whether the soil shear rate exceeds the threshold; S9. Detects areas adjacent to pipelines and calculates the earth pressure gradient. If it exceeds a preset threshold, the drill speed is reduced to 50%-70% of the rated value and an alarm is issued. The system also identifies the interface between soft and hard soil and analyzes the torque change rate. If it exceeds a preset threshold, pulse grouting is initiated, adjusting the grouting frequency according to a preset dynamic frequency adjustment equation to extend 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 greater than 15m and the soil resistance is less than 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 module in real time to form a dynamic optimization closed loop.

2. The method for anti-disturbance construction of cement mixing piles based on dynamic control according to claim 1, 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.

3. The method for preventing disturbance of cement mixing piles based on dynamic control according to claim 2, characterized in that: In S6, the drill speed PID control equation is as follows: ； ； in, Represents the drill speed adjustment amount; represents the scale factor, 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; Stands for real-time measurement of soil resistance.

4. The method for preventing disturbance of cement mixing piles based on dynamic control according to claim 2, 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, then it will be switched to low disturbance mode.

5. The method for anti-disturbance construction of cement mixing piles based on dynamic control according to claim 1, characterized in that: In S8, the safety layer hard constraint is the minimum lifting speed The maximum drill speed is 0.3m / min At 120rpm, the maximum soil pressure It is 3.0MPa.

6. The method for preventing disturbance of cement mixing piles based on dynamic control according to claim 1, 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; 、 Adjacent depths 、 The soil pressure gauge reading at When it is determined to be near the pipeline area, Represents the preset soil pressure change threshold, which is 20kPa / m according to pipeline industry standards; The formula for calculating the torque change rate is as follows: ； in, represents the rate of change of torque with depth; 、 Adjacent depths 、 The torque value at It is judged to have entered the boundary between soft and hard land. Represents the preset threshold for judging the boundary between soft and hard soils. Based on the torque variation test data of typical soil layers, its value is 50 N·m / m.

7. The method for anti-disturbance construction of cement mixing piles based on dynamic control according to claim 6, 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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