A dynamic compensation method and system for cast iron pipe segment joint leakage

Abstract

The present invention provides a method and system for dynamic compensation of cast iron segment joint leakage, which relates to the technical field of cast iron segment joint leakage compensation. The method comprises measuring the dynamic sequence of joint gap width using a laser rangefinder installed at the segment joint to form a multi-source monitoring data set including stress, gap width, water flow rate, and corrosion rate; calculating the bolt stress dispersion to generate a real-time leakage risk level and spatial distribution heat map; calculating the total leakage rate to form a partitioned compensation force vector; establishing a bolt group collaborative optimization model to solve the optimal torque adjustment amount and generate a dynamic compensation instruction sequence; and applying compensation torque through a hydraulic servo actuator to achieve dynamic maintenance of the joint sealing state. The present invention effectively maintains the joint sealing state, significantly improving the safety and reliability of underground engineering.

Description

Technical Field

[0001] The present invention relates to the technical field of cast iron pipe segment joint leakage compensation, and in particular to a cast iron pipe segment joint leakage dynamic compensation method and system. Background Art

[0002] In underground engineering, particularly in subway tunnels and utility corridors, cast iron segments are widely used to construct tunnel support structures. However, due to the complex underground environment, problems such as groundwater seepage, geostress fluctuations, and aging of segment joints can easily lead to leakage at these joints. This leakage not only compromises the tunnel's waterproofing but can also compromise structural stability and even cause safety incidents.

[0003] Existing technologies typically monitor the sealing status of segment joints through periodic manual inspections and simple pressure tests. This method is not only inefficient but also fails to monitor leakage in real time, making it difficult to identify potential safety hazards. Furthermore, existing technologies are relatively passive in terms of leakage compensation, often requiring manual intervention and failing to achieve automated dynamic compensation. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and system for dynamic compensation of cast iron segment joint leakage to improve the above-mentioned problem. To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present application provides a method for dynamic compensation of cast iron segment joint leakage, comprising:

[0006] Fiber optic strain sensor arrays installed in the bolt holes of the segments collect a time-series data matrix of bolt axial stress. Laser rangefinders installed at the segment joints measure the dynamic sequence of joint gap widths. Distributed fiber optic seepage sensors are used to obtain the spatial distribution vector of the leakage water flow rate. A corrosion potential probe is used to measure the corrosion rate at the joint interface. This establishes a multi-source monitoring data set that includes stress, gap width, water flow rate, and corrosion rate.

[0007] The collected multi-source monitoring data sets are analyzed to calculate the bolt stress dispersion. The leakage risk index is constructed using weight coefficients, combining factors such as gap width variation, leakage water velocity, stress dispersion, and corrosion rate. This generates a real-time leakage risk level and spatial distribution heat map.

[0008] A high-risk area coordinate set is extracted from the real-time leakage risk level and spatial distribution heat map. A leakage dynamics model is constructed based on this coordinate set to calculate the total leakage rate. Furthermore, the compensation requirement is derived and calculated based on the fluid viscosity, sealing material deformation coefficient, and water pressure difference parameters obtained through experimental calibration and theoretical calculation in the leakage dynamics model, forming a partitioned compensation force vector.

[0009] Based on the partitioned compensation force vector, a collaborative optimization model for the bolt group is established. With the goal of minimizing the bolt torque adjustment, the optimal torque adjustment is calculated by combining the bolt cross-sectional area, force transmission angle, and yield torque constraints obtained from bolt design parameters and material performance tests, generating a dynamic compensation instruction sequence.

[0010] According to the dynamic compensation instruction sequence, the compensation torque is applied by the hydraulic servo actuator, and the proportional-integral-differential controller is used for control. The changes in the gap width and stress dispersion are monitored in real time. It is judged whether the gap width change exceeds the threshold or whether the stress dispersion exceeds the alarm threshold. If one of them is detected as abnormal and the alarm device is triggered, the leakage risk is re-evaluated to achieve dynamic maintenance of the joint sealing state.

[0011] Preferably, the collected multi-source monitoring data set is analyzed to calculate the bolt stress dispersion, and the gap width change, leakage water flow rate, stress dispersion and corrosion rate factors are combined to construct a leakage risk index through a weight coefficient to generate a real-time leakage risk level and spatial distribution heat map, including:

[0012] Calculate bolt stress dispersion based on multi-source monitoring data sets;

[0013] A leakage risk index is constructed based on factors such as bolt stress dispersion, gap width variation, leakage water velocity, stress dispersion, and corrosion rate.

[0014] The real-time leakage risk level is mapped to the spatial position of the segment joint to generate a spatial distribution heat map, and the joint area is divided into different risk levels according to the size of the risk index.

[0015] Preferably, the high-risk area coordinate set is extracted from the real-time leakage risk level and spatial distribution heat map, and a leakage dynamics model is constructed based on the coordinate set to calculate the total leakage rate, which includes:

[0016] Based on the real-time leakage risk level and spatial distribution heat map, a risk threshold is set to distinguish high-risk areas from low-risk areas. The gradient-constrained DBSCAN algorithm is used to perform spatial clustering on the spatial distribution heat map, combining the risk threshold and the preset gradient sensitivity coefficient.

[0017] Based on the spatial clustering results, traverse the spatial distribution heat map and extract all points that meet the requirements ( x , y ) is greater than the risk threshold, and combined with the gradient constraint condition, the coordinate points of the high-risk area of ​​corrosion-stress coupling are screened out and formed into a high-risk area coordinate set;

[0018] Based on the high-risk area coordinate set, calculate the effective cross-sectional area of ​​the gap at each high-risk area coordinate point;

[0019] Combining the calculation of the effective cross-sectional area of ​​the gap and the water pressure difference, a basic leakage dynamics model is constructed. The corrosion enhancement term and the corrosion cross-section correction term are introduced into the basic leakage dynamics model to calculate the corrected leakage rate.

[0020] The leakage rates of all high-risk areas are accumulated to obtain the total leakage rate.

[0021] Preferably, the compensation requirement is derived and calculated based on the fluid viscosity, sealing material deformation coefficient and water pressure difference parameters obtained through experimental calibration and theoretical calculation in the leakage dynamics model to form a partitioned compensation force vector, which includes:

[0022] Obtain the fluid viscosity, sealing material deformation coefficient and system operating reference pressure values ​​obtained through experimental measurement to derive the compensation requirement;

[0023] The calculated total compensation force is distributed to each compensation actuator to form a partitioned compensation force vector.

[0024] Preferably, a bolt group collaborative optimization model is established based on the partition compensation force vector, with the goal of minimizing the bolt torque adjustment. The optimal torque adjustment is solved by combining the bolt cross-sectional area, force transmission angle, and yield torque constraints obtained through bolt design parameters and material performance tests, and a dynamic compensation instruction sequence is generated, which includes:

[0025] Based on the partition compensation force vector, an optimization objective function is defined to minimize the sum of the bolt torque adjustments.

[0026] Bolt design parameters and constraints obtained from material property tests were introduced into the bolt group collaborative optimization model to obtain an optimization solution that combines bolt design parameters and material property constraints. The constraints include bolt cross-sectional area, force transmission angle, and yield torque.

[0027] An optimization algorithm is used to solve the optimization solution that integrates the bolt design parameters and material performance constraints, obtain the optimal torque adjustment for each bolt, and generate a dynamic compensation instruction sequence based on the optimal torque adjustment.

[0028] Preferably, the dynamic compensation instruction sequence is followed, a compensation torque is applied by a hydraulic servo actuator, a proportional-integral-differential controller is used to realize control, and changes in the gap width and stress dispersion are monitored in real time; it is determined whether the gap width change exceeds a threshold value or whether the stress dispersion exceeds an alarm threshold value; if either of them is detected to be abnormal and an alarm device is triggered, the leakage risk is reassessed to achieve dynamic maintenance of the joint sealing state, which includes:

[0029] Based on the dynamic compensation instruction sequence, the hydraulic servo actuator applies the corresponding torque adjustment at the specified time point, and the torque adjustment is added to the initial torque to obtain the target torque. The difference between the target torque and the actual torque measured in real time by the hydraulic servo actuator is calculated to calculate the control signal.

[0030] The output of the hydraulic servo actuator is adjusted according to the control signal, and the gap width and bolt stress are monitored synchronously and in real time. The changes in the gap width and bolt stress compared to the previous time point are calculated, and the changes in the gap width and stress dispersion are obtained.

[0031] Setting a gap width change threshold and a stress dispersion alarm threshold, judging whether the gap width change exceeds the threshold and whether the stress dispersion change exceeds the alarm threshold; if the gap width change exceeds the threshold or the stress dispersion change exceeds the alarm threshold, it is judged as abnormal and a judgment result is obtained;

[0032] Based on the judgment results, determine whether the monitoring is abnormal. If abnormal, the alarm device will be triggered and the re-evaluation process will be started, going back to the leakage risk index construction link, and recalculating the leakage risk index and spatial distribution heat map based on the latest monitoring data. Based on the updated risk assessment results, the compensation demand will be re-planned, and a new dynamic compensation instruction sequence will be compiled. The compensation operation will be continuously executed according to the new instructions to ensure the dynamic maintenance of the joint sealing state.

[0033] In a second aspect, the present application also provides a cast iron pipe segment joint leakage dynamic compensation system, comprising:

[0034] Establish a module: Use an optical fiber strain sensor array installed in the bolt holes of the pipe segment to collect the time series data matrix of the bolt axial stress. Simultaneously, a laser rangefinder installed at the pipe segment joint measures the dynamic series of the joint gap width. Distributed optical fiber seepage sensors are used to obtain the spatial distribution vector of the leakage water flow rate. A corrosion potential probe is used to measure the corrosion rate of the joint interface. This establishes a multi-source monitoring data set including stress, gap width, water flow rate, and corrosion rate.

[0035] Generation module: This module is used to analyze the collected multi-source monitoring data sets, calculate the bolt stress dispersion, and construct a leakage risk index through weight coefficients based on the gap width change, leakage water flow rate, stress dispersion, and corrosion rate factors. This module then generates a real-time leakage risk level and spatial distribution heat map.

[0036] Calculation module: used to extract the coordinate set of high-risk areas from the real-time leakage risk level and spatial distribution heat map, build a leakage dynamics model based on the coordinate set, calculate the total leakage rate, and derive the compensation requirement based on the fluid viscosity, sealing material deformation coefficient and water pressure difference parameters obtained through experimental calibration and theoretical calculation in the leakage dynamics model, thereby forming a partition compensation force vector;

[0037] Solving module: This module is used to establish a collaborative optimization model for bolt groups based on the partitioned compensation force vectors. With the goal of minimizing the bolt torque adjustment, the module combines the bolt cross-sectional area, force transmission angle, and yield torque constraints obtained through bolt design parameters and material performance tests to solve for the optimal torque adjustment and generate a dynamic compensation instruction sequence.

[0038] Judgment module: used to apply compensation torque through the hydraulic servo actuator according to the dynamic compensation instruction sequence, use the proportional-integral-differential controller to achieve control, and monitor the changes in gap width and stress dispersion in real time; judge whether the gap width change exceeds the threshold or whether the stress dispersion exceeds the alarm threshold. If one of them is detected as abnormal and triggers the alarm device, the leakage risk is re-evaluated to achieve dynamic maintenance of the joint sealing state.

[0039] In a third aspect, the present application further provides a cast iron pipe segment joint leakage dynamic compensation device, comprising:

[0040] memory for storing computer programs;

[0041] A processor is used to implement the steps of the cast iron pipe segment joint leakage dynamic compensation method when executing the computer program.

[0042] In a fourth aspect, the present application further provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned method for dynamic compensation of cast iron pipe segment joint leakage are implemented.

[0043] The beneficial effects of the present invention are:

[0044] The present invention installs an optical fiber strain sensor array in the bolt holes of the pipe segment and arranges a laser rangefinder, a distributed optical fiber seepage sensor, and a corrosion potential probe at the joint to collect multi-source data such as bolt axial stress, gap width, leakage water flow rate, and corrosion rate in real time. Based on this data, a leakage risk index is constructed to dynamically assess the leakage risk. The compensation requirement is calculated through an intelligent algorithm to generate a dynamic compensation instruction sequence. Then, a hydraulic servo actuator and a PID controller are used to achieve real-time dynamic compensation for leakage at the pipe segment joint. This method can not only monitor the leakage situation in real time, but also automatically adjust the compensation strategy to effectively maintain the sealing state of the joint, significantly improving the safety and reliability of underground projects.

[0045] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the embodiments of the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 Schematic diagram of the flow chart of the dynamic compensation method for cast iron segment joint leakage according to an embodiment of the present invention;

[0048] Figure 2 Schematic diagram of the structure of the dynamic compensation system for cast iron segment joint leakage according to an embodiment of the present invention;

[0049] Figure 3 Schematic diagram of the structure of the dynamic compensation equipment for cast iron pipe segment joint leakage described in an embodiment of the present invention.

[0050] In the figure: 701, establishment module; 702, generation module; 703, calculation module; 704, solution module; 705, judgment module; 800, cast iron pipe segment joint leakage dynamic compensation equipment; 801, processor; 802, memory; 803, multimedia component; 804, I / O interface; 805, communication component. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0052] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0053] Example 1:

[0054] This embodiment provides a method for dynamic compensation of cast iron pipe segment joint leakage.

[0055] See also Figure 1 , the figure shows that the method includes step S100, step S200, step S300, step S400 and step S500.

[0056] S100. By installing an optical fiber strain sensor array in the bolt holes of the pipe segment, the time series data matrix of the bolt axial stress is collected. At the same time, the dynamic sequence of the joint gap width is measured by a laser rangefinder installed at the pipe segment joint. The spatial distribution vector of the leakage water flow rate is obtained with the help of a distributed optical fiber seepage sensor, and the corrosion rate of the joint interface is measured using a corrosion potential probe. A multi-source monitoring data set including stress, gap width, water flow rate and corrosion rate is established.

[0057] It is understood that in this step, at the segment joint, an optical fiber strain sensor array is installed in the bolt hole to collect the time series data matrix of the bolt axial stress in real time. ,in m is the number of bolts, n is the sampling point, each row represents the stress time series data of a bolt, and each column represents the stress value of all bolts at the same time point; at the same time, a laser rangefinder is installed at the joint of the pipe segment to measure the width of the joint gap at a fixed frequency (such as once per second) and output the width value , forming a dynamic sequence In addition, distributed optical fiber seepage sensors are installed at the joint gaps of the pipe segments to divide the joint gaps into k There are monitoring zones, each zone is equipped with a sensor, which indirectly measures the leakage water velocity by detecting the change of the optical signal in the optical fiber, and forms the spatial distribution vector of the leakage water velocity. Finally, a corrosion potential probe is installed on the surface of the tube joint to calculate the corrosion rate by measuring the potential change. , which is a scalar value with the unit of μm / year. These monitoring data together constitute a multi-source heterogeneous monitoring dataset, providing comprehensive and real-time basic data support for subsequent leakage risk assessment.

[0058] S200. Analyze the collected multi-source monitoring data sets, calculate the bolt stress dispersion, and combine the gap width change, leakage water flow rate, stress dispersion and corrosion rate factors to construct a leakage risk index through weight coefficients to generate a real-time leakage risk level and spatial distribution heat map.

[0059] It can be understood that step S200 includes S201, S202 and S203, wherein:

[0060] S201. Calculate the bolt stress dispersion based on the multi-source monitoring data set. The calculation formula is as follows:

[0061]

[0062] Where, is the bolt stress dispersion, is the number of bolts, For the i The average stress of the bolts, is the average stress of all bolts;

[0063] S202. Based on the factors of bolt stress dispersion, gap width variation, leakage water flow rate, stress dispersion, and corrosion rate, a leakage risk index is constructed. The calculation formula is as follows:

[0064]

[0065] Where, is the leakage risk index, α 、 β 、 γ 、 η is the weight coefficient, which is equal to 1 when added together. is the initial gap width, To design the gap threshold, is the dynamic sequence of joint gap width, is the critical value of bolt stress dispersion, is the norm of the leakage water velocity vector, is the maximum permissible water flow rate, is the bolt stress dispersion, is the corrosion rate of the joint interface, is the critical value of corrosion rate;

[0066] It should be noted that the bolt axial stress data is collected using an optical fiber strain sensor array to calculate the bolt stress dispersion. Bolt stress dispersion reflects the uniformity of the bolt stress. The greater the dispersion, the more uneven the bolt stress is, which may increase the risk of leakage. The change in gap width directly reflects the sealing state of the joint. An increase in width may mean an increased risk of leakage. In addition, the magnitude and distribution of water flow rate reflect the severity of the leakage. Among them, the corrosion rate of the joint interface is measured using a corrosion potential probe. The increase in corrosion rate will lead to changes in gap width and stress dispersion, further affecting the leakage risk.

[0067] In summary, by comprehensively considering multiple factors, including bolt stress dispersion, gap width variation, leakage water velocity, and corrosion rate, the constructed leakage risk index can more comprehensively and accurately reflect the leakage risk of segmental joints. This not only considers mechanical factors (such as bolt stress and gap width), but also incorporates fluid mechanics (leakage water velocity) and materials science (corrosion rate), making the risk assessment more scientific and comprehensive. Compared with traditional single-factor assessment methods, this method can detect potential leakage risks earlier, providing a basis for timely implementation of compensatory measures.

[0068] S203: Map the real-time leakage risk level to the spatial position of the segment joint to generate a spatial distribution heat map, and divide the joint area into different risk levels according to the size of the risk index.

[0069] It's important to note that the real-time leakage risk index is mapped to the spatial location of the segment joints to form a spatial distribution heat map. This heat map uses color coding to visually display the risk level of different locations, with red indicating high-risk areas, yellow indicating medium-risk areas, and green indicating low-risk areas.

[0070] Using a geographic information system (GIS) or similar visualization tool, the risk index is mapped to the spatial location of the segment joints to generate a heat map. Heat maps not only visually demonstrate risk distribution but also help engineers quickly locate high-risk areas, facilitating the implementation of targeted compensatory measures. Compared to traditional two-dimensional data presentation methods, heat maps provide a more intuitive and comprehensive visual experience, helping to improve decision-making efficiency and accuracy. Furthermore, by categorizing risk levels, leakage risks can be more precisely managed, resource allocation can be optimized, and project safety and reliability can be enhanced.

[0071] S300. Extract the coordinate set of high-risk areas from the real-time leakage risk level and spatial distribution heat map, build a leakage dynamics model based on the coordinate set, calculate the total leakage rate, and derive the compensation demand based on the fluid viscosity, sealing material deformation coefficient and water pressure difference parameters obtained through experimental calibration and theoretical calculation in the leakage dynamics model to form a partition compensation force vector.

[0072] It can be understood that step S300 includes S301, S302, S303, S304 and S305, wherein:

[0073] S301. Based on the real-time leakage risk level and the spatial distribution heat map, a risk threshold is set to distinguish high-risk areas from low-risk areas. A gradient-constrained DBSCAN algorithm is used to perform spatial clustering on the spatial distribution heat map, combining the risk threshold and a preset gradient sensitivity coefficient.

[0074] It should be noted that the risk threshold is set to 0.7 and the gradient sensitivity coefficient is set to 0.3. This step identifies areas with similar risk characteristics by evaluating the risk value of each point and the risk gradient within its neighborhood.

[0075] S302, based on the spatial clustering results, traverse the spatial distribution heat map and extract all points that meet the requirements ( x , y ) is greater than the risk threshold, and combined with the gradient constraint condition, the coordinate points of the high-risk area of ​​corrosion-stress coupling are screened out and formed into a high-risk area coordinate set;

[0076] S303. Based on the high-risk area coordinate set, calculate the effective cross-sectional area of ​​the gap at each high-risk area coordinate point. The calculation formula is as follows:

[0077]

[0078] Where, is the effective cross-sectional area of ​​the gap, is the change of the gap radius under corrosion, is the number of bolts, is the cross-sectional area of ​​the bolt, is the angle between the gap and the horizontal plane;

[0079] S304. Combine the calculation of the effective cross-sectional area of ​​the gap and the water pressure difference to construct a basic leakage dynamics model. Introduce the corrosion enhancement term and the corrosion cross-sectional correction term into the basic leakage dynamics model to calculate the corrected leakage rate. The calculation formula is as follows:

[0080]

[0081] Where, is the corrected leakage rate, As the basic leakage dynamics model, λ is the risk amplification factor, For corrosion enhancement, is the corrosion section correction term;

[0082] It should be noted that the corrosion enhancement term relates the real-time leakage risk index to the leakage rate through an exponential function. The higher the risk index, the more significant the corrosion-enhancing effect on the leakage rate. By adjusting the risk amplification factor λ, the nonlinear effect of corrosion risk on the leakage rate can be quantified.

[0083] The corrosion cross-sectional correction term accounts for the effect of corrosion rate on the effective cross-sectional area of ​​the crevice. The ratio of the corrosion rate to the critical corrosion rate is multiplied by a factor (e.g., 0.2) to quantify the effect of corrosion on the cross-sectional area. As the corrosion rate increases, the effective cross-sectional area of ​​the crevice increases accordingly, affecting the leakage rate.

[0084] In summary, by introducing the corrosion enhancement term and the corrosion cross-section correction term, the effect of corrosion on the leakage rate can be considered more comprehensively. Not only basic factors such as water pressure difference and effective cross-sectional area of ​​the gap are considered, but also the nonlinear effect of corrosion on the leakage rate is quantified through the corrosion enhancement term and the corrosion cross-section correction term.

[0085] S305. Accumulate the leakage rates of all high-risk areas to obtain the total leakage rate, which is calculated as follows:

[0086]

[0087] Where, is the total leakage rate, Contains all coordinate points that meet the risk conditions , is the corrected leakage rate.

[0088] It should be noted that a basic leakage dynamics model is first constructed, taking into account the main physical factors (such as water pressure difference and gap area). Then, based on the basic model, corrosion enhancement terms and corrosion cross-section correction terms are introduced to more comprehensively reflect the impact of corrosion on leakage rate. Finally, the leakage rate of each high-risk area is calculated through the modified model, and the total leakage rate is accumulated. Among them, the real-time leakage risk index is associated with the leakage rate. The higher the risk index, the more significant the enhancement effect of corrosion on the leakage rate. The risk amplification factor is adjusted to λ , which quantifies the nonlinear impact of corrosion risk on leakage rate. The ratio of the corrosion rate to the critical corrosion rate is multiplied by a coefficient (e.g., 0.2) to quantify the effect of corrosion on cross-sectional area. Therefore, as the corrosion rate increases, the effective cross-sectional area of ​​the gap increases accordingly, affecting the leakage rate. By incorporating these two factors into the leakage dynamics model, the impact of corrosion on leakage rate can be more comprehensively considered, making the model more consistent with actual operating conditions.

[0089] It is understandable that step S300 also includes steps S306 and S307, wherein:

[0090] S306. Obtain the fluid viscosity, the sealing material deformation coefficient, and the reference pressure value of the system operation obtained through experimental measurement, and deduce the compensation amount requirement. The calculation formula is as follows:

[0091]

[0092] Where, is the total compensation force, is the total leakage rate, is the fluid viscosity, is the deformation coefficient of the sealing material, is the difference between the water pressure and the internal pressure of the segment, It is the base pressure value for system operation;

[0093] S307 : Distribute the calculated total compensation force to each compensation actuator to form a partitioned compensation force vector.

[0094] It should be noted that the calculated total compensation force Distributed to each compensation actuator to form a partition compensation force vector ,in To compensate for the number of actuators, the allocation process takes into account the position and range of each actuator to ensure that the compensation force is evenly applied to the high-risk area, and finally obtains the partition compensation force vector , providing data support for the generation of dynamic compensation instructions.

[0095] S400. Based on the partitioned compensation force vector, a collaborative optimization model for the bolt group is established with the goal of minimizing the bolt torque adjustment. Combined with the bolt cross-sectional area, force transmission angle, and yield torque constraints obtained through bolt design parameters and material performance tests, the optimal torque adjustment is solved and a dynamic compensation instruction sequence is generated.

[0096] It can be understood that step S400 includes S401, S402 and S403, wherein:

[0097] S401. Based on the partition compensation force vector, define an optimization objective function with the goal of minimizing the sum of the bolt torque adjustments. The calculation formula is as follows:

[0098]

[0099] Where, For the j Adjusted torque of each bolt, is the initial torque, is the total number of bolts;

[0100] It should be noted that the formula indicates that the optimization goal is to minimize the sum of all bolt torque adjustments, by minimizing The sum of can ensure that the compensation force requirement is met while minimizing the bolt torque adjustment range, thereby reducing the system's energy consumption and operational complexity. Using this objective function, a collaborative optimization model for the bolt group is constructed, providing a mathematical framework for subsequently solving the optimal torque adjustment.

[0101] S402. Introduce the bolt design parameters and the constraints obtained from the material performance test into the bolt group collaborative optimization model to obtain an optimization solution that integrates the bolt design parameters and material performance constraints. The constraints include the bolt cross-sectional area, the force transmission angle, and the yield torque, and the calculation formula is as follows:

[0102]

[0103] Where, For the j The compensation force of a compensating actuator, For the j The cross-sectional area of ​​the bolts, For the j Adjusted torque of each bolt, For the j The force transmission angle of the bolts, is the initial torque, is the total number of bolts, is the yield torque of the bolt, Iterate over all elements in the specified collection;

[0104] It should be noted that the objective function in this step is to minimize the sum of the bolt torque adjustments to reduce operational complexity and energy consumption. The constraint condition is also to ensure that the torque adjustment of each bolt is within a safe range and meets the compensation force requirements.

[0105] S403. Utilize an optimization algorithm to solve an optimization solution that integrates bolt design parameters and material performance constraints, obtain an optimal torque adjustment for each bolt, and generate a dynamic compensation instruction sequence based on the optimal torque adjustment.

[0106] It should be noted that the optimal torque adjustment for each bolt is , where For the j The torque adjustment of the first bolt is j Adjusted torque of each bolt, is the initial torque. Through the above steps, starting from the partition compensation force vector, combined with the bolt design parameters and material property constraints, a bolt group collaborative optimization model is constructed and solved, and finally a dynamic compensation instruction sequence is generated to achieve dynamic compensation for segment joint leakage.

[0107] S500: According to the dynamic compensation instruction sequence, the compensation torque is applied by the hydraulic servo actuator, and the proportional-integral-differential controller is used to realize control, and the changes of the gap width and stress dispersion are monitored in real time; it is determined whether the gap width change exceeds the threshold value or whether the stress dispersion exceeds the alarm threshold value. If one of them is detected to be abnormal and the alarm device is triggered, the leakage risk is re-evaluated to realize the dynamic maintenance of the joint sealing state.

[0108] It can be understood that step S500 includes S501, S502, S503 and S504, wherein:

[0109] S501: The hydraulic servo actuator applies a corresponding torque adjustment at a specified time point according to the dynamic compensation instruction sequence, adds the torque adjustment to the initial torque, and obtains a target torque; calculates the difference between the target torque and the actual torque measured in real time by the hydraulic servo actuator, thereby calculating a control signal;

[0110] It should be noted that the function of the control signal is to adjust the output of the hydraulic servo actuator to ensure that the actual torque can accurately reach the target torque. Through the adjustment of the PID controller, the torque adjustment amount applied by the hydraulic servo actuator can effectively compensate for leakage, thereby affecting the gap width and stress dispersion. It can be understood that the output of the PID controller is used to adjust the output of the hydraulic servo actuator to ensure that the actual torque reaches the target torque. In this step, the difference between the target torque and the actual torque measured in real time by the hydraulic servo actuator is calculated. The calculation formula is as follows:

[0111]

[0112] Where, is the difference, is the target torque, is the actual torque;

[0113] It's understood that in this step, the hydraulic servo actuator applies the corresponding torque adjustment at the specified time based on the dynamic compensation instruction sequence. This precise control is achieved through a proportional-integral-derivative (PID) controller. The PID controller dynamically adjusts the control signal based on the deviation between the target torque and the actual torque, ensuring that the bolt torque accurately reaches the set value. This process provides real-time feedback on gap width and stress dispersion data, providing a basis for subsequent monitoring.

[0114] S502: Adjust the output of the hydraulic servo actuator according to the control signal, and simultaneously monitor the gap width and bolt stress in real time. Then, calculate the change in the gap width and bolt stress compared to the previous time point, and obtain the change in the gap width and the change in stress dispersion. The calculation formula is as follows:

[0115]

[0116] Where, is the change in gap width, is the gap width, is the gap width at the previous time point;

[0117]

[0118] Where, is the variation of bolt stress dispersion, is the bolt stress dispersion, is the bolt stress dispersion at the previous time point;

[0119] It can be understood that these two formulas are used to calculate the changes in gap width and stress dispersion between adjacent time points, respectively. These changes can reflect the actual effect after the compensation operation and provide a basis for subsequent abnormal judgment and risk reassessment.

[0120] S503, setting a threshold value for the gap width change and an alarm threshold value for the stress dispersion, determining whether the gap width change exceeds the threshold value and whether the stress dispersion change exceeds the alarm threshold value; if the gap width change exceeds the threshold value or the stress dispersion change exceeds the alarm threshold value, determining that it is abnormal and obtaining a determination result;

[0121] S504. Based on the judgment result, determine whether the monitoring is abnormal. If abnormal, trigger the alarm device and start the re-evaluation process, trace back to the leakage risk index construction link, recalculate the leakage risk index and spatial distribution heat map according to the latest monitoring data, and re-plan the compensation demand based on the updated risk assessment result, compile a new dynamic compensation instruction sequence, and continue to perform compensation operations according to the new instructions to ensure the dynamic maintenance of the joint sealing state.

[0122] Therefore, through this closed-loop control mechanism, the system can respond to abnormal situations in real time, dynamically adjust the compensation strategy, and effectively maintain the sealing state of the pipe segment joints.

[0123] It should be noted that through the above steps, the present invention achieves a complete closed-loop control system, from collecting multi-source monitoring data to dynamically assessing leakage risk, and then to precisely applying compensating torque and providing real-time monitoring feedback. This process not only effectively compensates for leakage in segment joints but also ensures the dynamic maintenance of joint sealing through real-time monitoring and alarm mechanisms, thereby improving the safety and reliability of underground projects.

[0124] Example 2:

[0125] like Figure 2As shown, this embodiment provides a cast iron pipe segment joint leakage dynamic compensation system, see Figure 2 The system comprises:

[0126] Establishing module 701: for collecting a time series data matrix of bolt axial stress using an optical fiber strain sensor array installed in the bolt holes of the pipe segments, simultaneously measuring the dynamic sequence of joint gap width using a laser rangefinder installed at the pipe segment joint, obtaining the spatial distribution vector of the leakage water flow rate using a distributed optical fiber seepage sensor, and measuring the corrosion rate of the joint interface using a corrosion potential probe, thereby establishing a multi-source monitoring data set including stress, gap width, water flow rate, and corrosion rate;

[0127] Generation module 702: used to analyze the collected multi-source monitoring data set, calculate the bolt stress dispersion, and combine the gap width change, leakage water flow rate, stress dispersion and corrosion rate factors to construct a leakage risk index through weight coefficients to generate a real-time leakage risk level and spatial distribution heat map;

[0128] Calculation module 703: used to extract the coordinate set of high-risk areas from the real-time leakage risk level and spatial distribution heat map, build a leakage dynamics model based on the coordinate set, calculate the total leakage rate, and derive the compensation requirement based on the fluid viscosity, sealing material deformation coefficient, and water pressure difference parameters obtained through experimental calibration and theoretical calculation in the leakage dynamics model to form a partitioned compensation force vector;

[0129] Solving module 704: used to establish a bolt group collaborative optimization model based on the partitioned compensation force vector, with the goal of minimizing the bolt torque adjustment. Combining the bolt cross-sectional area, force transmission angle, and yield torque constraints obtained from bolt design parameters and material performance tests, the optimal torque adjustment is solved and a dynamic compensation instruction sequence is generated.

[0130] Judgment module 705: used to apply compensation torque through the hydraulic servo actuator according to the dynamic compensation instruction sequence, use the proportional-integral-differential controller to achieve control, and monitor the changes in the gap width and stress dispersion in real time; judge whether the gap width change exceeds the threshold or whether the stress dispersion exceeds the alarm threshold. If either of them is detected to be abnormal and the alarm device is triggered, the leakage risk is re-evaluated to achieve dynamic maintenance of the joint sealing state.

[0131] Specifically, the generating module 702 includes:

[0132] The first calculation unit is used to calculate the bolt stress dispersion based on the multi-source monitoring data set. The calculation formula is as follows:

[0133]

[0134] Where, is the bolt stress dispersion, is the number of bolts, For the i The average stress of the bolts, is the average stress of all bolts;

[0135] Construction unit: used to construct the leakage risk index based on the factors of bolt stress dispersion, gap width change, leakage water flow rate, stress dispersion and corrosion rate. The calculation formula is as follows:

[0136]

[0137] Where, is the leakage risk index, α 、 β 、 γ 、 η is the weight coefficient, which is equal to 1 when added together. is the initial gap width, To design the gap threshold, is the dynamic sequence of joint gap width, is the critical value of bolt stress dispersion, is the norm of the leakage water velocity vector, is the maximum permissible water flow rate, is the bolt stress dispersion, is the corrosion rate of the joint interface, is the critical value of corrosion rate;

[0138] Division unit: used to map the real-time leakage risk level to the spatial position of the segment joint, generate a spatial distribution heat map, and divide the joint area into different risk levels according to the size of the risk index.

[0139] Specifically, the calculation module 703 includes:

[0140] Clustering unit: used to set risk thresholds for distinguishing high-risk areas from low-risk areas based on the real-time leakage risk level and spatial distribution heat map. The gradient-constrained DBSCAN algorithm is used to perform spatial clustering on the spatial distribution heat map, combining the risk threshold and the preset gradient sensitivity coefficient.

[0141] Screening unit: used to traverse the spatial distribution heat map based on the spatial clustering results and extract all the points that meet the requirements ( x , y ) is greater than the risk threshold, and combined with the gradient constraint condition, the coordinate points of the high-risk area of ​​corrosion-stress coupling are screened out and formed into a high-risk area coordinate set;

[0142] The second calculation unit is used to calculate the effective cross-sectional area of ​​the gap at each high-risk area coordinate point based on the high-risk area coordinate set. The calculation formula is as follows:

[0143]

[0144] Where, is the effective cross-sectional area of ​​the gap, is the change of the gap radius under corrosion, is the number of bolts, is the cross-sectional area of ​​the bolt, is the angle between the gap and the horizontal plane;

[0145] The third calculation unit is used to combine the calculation of the effective cross-sectional area of ​​the gap and the water pressure difference to construct a basic leakage dynamics model. The corrosion enhancement term and the corrosion cross-section correction term are introduced into the basic leakage dynamics model to calculate the corrected leakage rate. The calculation formula is as follows:

[0146]

[0147] Where, is the corrected leakage rate, As the basic leakage dynamics model, λ is the risk amplification factor, For corrosion enhancement, is the corrosion section correction term;

[0148] The fourth calculation unit is used to accumulate the leakage rates of all high-risk areas to obtain the total leakage rate. The calculation formula is as follows:

[0149]

[0150] Where, is the total leakage rate, Contains all coordinate points that meet the risk conditions , is the corrected leakage rate.

[0151] Specifically, the calculation module 703 includes:

[0152] Derivation unit: used to obtain the fluid viscosity, sealing material deformation coefficient and system operation reference pressure value obtained through experimental measurement, and derive the compensation amount requirement. The calculation formula is as follows:

[0153]

[0154] Where, is the total compensation force, is the total leakage rate, is the fluid viscosity, is the deformation coefficient of the sealing material, is the difference between the water pressure and the internal pressure of the segment, It is the base pressure value for system operation;

[0155] Distribution unit: used to distribute the calculated total compensation force to each compensation actuator to form a partitioned compensation force vector.

[0156] It should be noted that, regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated on here.

[0157] Example 3:

[0158] Corresponding to the above method embodiment, this embodiment also provides a cast iron pipe segment joint leakage dynamic compensation device. The cast iron pipe segment joint leakage dynamic compensation device described below and the cast iron pipe segment joint leakage dynamic compensation method described above can be referenced to each other.

[0159] Figure 3 FIG. 8 is a block diagram of a cast iron segment joint leakage dynamic compensation device 800 according to an exemplary embodiment. Figure 3 As shown, the cast iron segment joint leakage dynamic compensation device 800 includes: a processor 801 and a memory 802. The cast iron segment joint leakage dynamic compensation device 800 also includes one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0160] The processor 801 is used to control the overall operation of the cast iron segment joint leakage dynamic compensation device 800 to complete all or part of the steps of the cast iron segment joint leakage dynamic compensation method described above. The memory 802 is used to store various types of data to support the operation of the cast iron segment joint leakage dynamic compensation device 800. This data may include, for example, instructions for any application or method operating on the cast iron segment joint leakage dynamic compensation device 800, as well as application-related data such as contact information, sent and received messages, images, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, which may be a keyboard, a mouse, or buttons. These buttons may be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the cast iron pipe segment joint leakage dynamic compensation device 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 805 may include: a Wi-Fi module, a Bluetooth module or an NFC module.

[0161] In an exemplary embodiment, the cast iron pipe segment joint leakage dynamic compensation device 800 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above-mentioned cast iron pipe segment joint leakage dynamic compensation method.

[0162] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When executed by a processor, the program instructions implement the steps of the aforementioned method for dynamic compensation of cast iron segment joint leakage. For example, the computer-readable storage medium may be the aforementioned memory 802 including the program instructions. The program instructions may be executed by the processor 801 of the cast iron segment joint leakage dynamic compensation device 800 to implement the aforementioned method for dynamic compensation of cast iron segment joint leakage.

[0163] Example 4:

[0164] Corresponding to the above method embodiment, this embodiment further provides a readable storage medium. The readable storage medium described below and the cast iron pipe segment joint leakage dynamic compensation method described above can refer to each other.

[0165] A computer program is stored on the readable storage medium, and when the computer program is executed by the processor, the steps of the method for dynamic compensation of cast iron pipe segment joint leakage in the above method embodiment are implemented.

[0166] The readable storage medium may specifically be any readable storage medium that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0167] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0168] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for dynamic compensation of cast iron segment joint leakage, characterized in that: include: Fiber optic strain sensor arrays installed in the bolt holes of the segments collect a time-series data matrix of bolt axial stress. Laser rangefinders installed at the segment joints measure the dynamic sequence of joint gap widths. Distributed fiber optic seepage sensors are used to obtain the spatial distribution vector of the leakage water flow rate. A corrosion potential probe is used to measure the corrosion rate at the joint interface. This establishes a multi-source monitoring data set that includes stress, gap width, water flow rate, and corrosion rate. The collected multi-source monitoring data sets are analyzed to calculate the bolt stress dispersion. The leakage risk index is constructed using weight coefficients, combining factors such as gap width variation, leakage water velocity, stress dispersion, and corrosion rate. This generates a real-time leakage risk level and spatial distribution heat map. A high-risk area coordinate set is extracted from the real-time leakage risk level and spatial distribution heat map. A leakage dynamics model is constructed based on this coordinate set to calculate the total leakage rate. Furthermore, the compensation requirement is derived and calculated based on the fluid viscosity, sealing material deformation coefficient, and water pressure difference parameters obtained through experimental calibration and theoretical calculation in the leakage dynamics model, forming a partitioned compensation force vector. Based on the partitioned compensation force vector, a collaborative optimization model for the bolt group is established. With the goal of minimizing the bolt torque adjustment, the optimal torque adjustment is calculated by combining the bolt cross-sectional area, force transmission angle, and yield torque constraints obtained from bolt design parameters and material performance tests, generating a dynamic compensation instruction sequence. According to the dynamic compensation instruction sequence, the compensation torque is applied by the hydraulic servo actuator, and the proportional-integral-differential controller is used for control. The changes in the gap width and stress dispersion are monitored in real time. It is judged whether the gap width change exceeds the threshold or whether the stress dispersion exceeds the alarm threshold. If one of them is detected as abnormal and the alarm device is triggered, the leakage risk is re-evaluated to achieve dynamic maintenance of the joint sealing state.

2. The method for dynamic compensation of cast iron segment joint leakage according to claim 1, characterized in that: The collected multi-source monitoring data sets are analyzed to calculate the bolt stress dispersion. The leakage risk index is constructed by combining the gap width change, leakage water flow rate, stress dispersion and corrosion rate factors through weight coefficients to generate a real-time leakage risk level and spatial distribution heat map, including: According to the multi-source monitoring data set, the bolt stress dispersion is calculated. The calculation formula is as follows: Where, is the bolt stress dispersion, is the number of bolts, For the i The average stress of the bolts, is the average stress of all bolts; Based on the factors of bolt stress dispersion, gap width change, leakage water flow rate, stress dispersion and corrosion rate, a leakage risk index is constructed. The calculation formula is as follows: Where, is the leakage risk index, α 、 β 、 γ 、 η is the weight coefficient, which is equal to 1 when added together. is the initial gap width, To design the gap threshold, is the dynamic sequence of joint gap width, is the critical value of bolt stress dispersion, is the norm of the leakage water velocity vector, is the maximum permissible water flow rate, is the bolt stress dispersion, is the corrosion rate of the joint interface, is the critical value of corrosion rate; The real-time leakage risk level is mapped to the spatial position of the segment joint to generate a spatial distribution heat map, and the joint area is divided into different risk levels according to the size of the risk index.

3. The method for dynamic compensation of cast iron segment joint leakage according to claim 1, characterized in that: The coordinate set of high-risk areas is extracted from the real-time leakage risk level and spatial distribution heat map, and a leakage dynamics model is constructed based on the coordinate set to calculate the total leakage rate, including: Based on the real-time leakage risk level and spatial distribution heat map, a risk threshold is set to distinguish high-risk areas from low-risk areas. The gradient-constrained DBSCAN algorithm is used to perform spatial clustering on the spatial distribution heat map, combining the risk threshold and the preset gradient sensitivity coefficient. Based on the spatial clustering results, traverse the spatial distribution heat map and extract all points that meet the requirements ( x , y ) is greater than the risk threshold, and combined with the gradient constraint condition, the coordinate points of the high-risk area of ​​corrosion-stress coupling are screened out and formed into a high-risk area coordinate set; Based on the high-risk area coordinate set, the effective cross-sectional area of ​​the gap at each high-risk area coordinate point is calculated. The calculation formula is as follows: Where, is the effective cross-sectional area of ​​the gap, is the change of the gap radius under corrosion, is the number of bolts, is the cross-sectional area of ​​the bolt, is the angle between the gap and the horizontal plane; Combining the calculation of the effective cross-sectional area of ​​the gap and the water pressure difference, a basic leakage dynamics model is constructed. The corrosion enhancement term and the corrosion cross-section correction term are introduced into the basic leakage dynamics model to calculate the corrected leakage rate. The calculation formula is as follows: Where, is the corrected leakage rate, As the basic leakage dynamics model, λ is the risk amplification factor, For corrosion enhancement, is the corrosion section correction term; The leakage rates of all high-risk areas are accumulated to obtain the total leakage rate, which is calculated as follows: Where, is the total leakage rate, Contains all coordinate points that meet the risk conditions , is the corrected leakage rate.

4. The method for dynamic compensation of cast iron segment joint leakage according to claim 1, characterized in that: The fluid viscosity, sealing material deformation coefficient and water pressure difference parameters obtained through experimental calibration and theoretical calculation in the leakage dynamics model are used to derive and calculate the compensation amount requirement to form a partition compensation force vector, which includes: The compensation requirement is derived by obtaining the fluid viscosity, sealing material deformation coefficient, and system operating baseline pressure values ​​obtained through experimental measurement. The calculation formula is as follows: Where, is the total compensation force, is the total leakage rate, is the fluid viscosity, is the deformation coefficient of the sealing material, is the difference between the water pressure and the internal pressure of the segment, It is the base pressure value for system operation; The calculated total compensation force is distributed to each compensation actuator to form a partitioned compensation force vector.

5. The method for dynamic compensation of cast iron segment joint leakage according to claim 1, characterized in that: According to the partition compensation force vector, a bolt group collaborative optimization model is established to minimize the bolt torque adjustment amount. The optimal torque adjustment amount is solved by combining the bolt cross-sectional area, force transmission angle and yield torque constraints obtained through bolt design parameters and material performance tests, and a dynamic compensation instruction sequence is generated, which includes: Based on the partition compensation force vector, the optimization objective function is defined to minimize the sum of the bolt torque adjustments. The calculation formula is as follows: Where, For the j Adjusted torque of each bolt, is the initial torque, is the total number of bolts; The bolt design parameters and constraints obtained from material property tests were introduced into the bolt group collaborative optimization model to obtain an optimization solution that integrates the bolt design parameters and material property constraints. The constraints include the bolt cross-sectional area, force transmission angle, and yield torque, and the calculation formula is as follows: Where, For the j The compensation force of a compensating actuator, For the j The cross-sectional area of ​​the bolts, For the j Adjusted torque of each bolt, For the j The force transmission angle of the bolts, is the initial torque, is the total number of bolts, is the yield torque of the bolt, Iterate over all elements in the specified collection; An optimization algorithm is used to solve the optimization solution that integrates the bolt design parameters and material performance constraints, obtain the optimal torque adjustment for each bolt, and generate a dynamic compensation instruction sequence based on the optimal torque adjustment.

6. The method for dynamic compensation of cast iron segment joint leakage according to claim 1, characterized in that: According to the dynamic compensation instruction sequence, the compensation torque is applied by the hydraulic servo actuator, and the proportional-integral-differential controller is used to achieve control. The changes in the gap width and stress dispersion are monitored in real time. It is determined whether the gap width change exceeds a threshold or whether the stress dispersion exceeds an alarm threshold. If an abnormality is detected in either case and the alarm device is triggered, the leakage risk is reassessed to achieve dynamic maintenance of the joint sealing state, which includes: Based on the dynamic compensation instruction sequence, the hydraulic servo actuator applies the corresponding torque adjustment at the specified time point, and the torque adjustment is added to the initial torque to obtain the target torque. The difference between the target torque and the actual torque measured in real time by the hydraulic servo actuator is calculated to calculate the control signal. The output of the hydraulic servo actuator is adjusted according to the control signal, and the gap width and bolt stress are monitored synchronously and in real time. The changes in the gap width and bolt stress compared to the previous time point are calculated, and the changes in the gap width and stress dispersion are obtained. The calculation formula is as follows: Where, is the change in gap width, is the gap width, is the gap width at the previous time point; Where, is the variation of bolt stress dispersion, is the bolt stress dispersion, is the bolt stress dispersion at the previous time point; Setting a gap width change threshold and a stress dispersion alarm threshold, judging whether the gap width change exceeds the threshold and whether the stress dispersion change exceeds the alarm threshold; if the gap width change exceeds the threshold or the stress dispersion change exceeds the alarm threshold, it is judged as abnormal and a judgment result is obtained; Based on the judgment results, determine whether the monitoring is abnormal. If abnormal, the alarm device will be triggered and the re-evaluation process will be started, going back to the leakage risk index construction link, and recalculating the leakage risk index and spatial distribution heat map based on the latest monitoring data. Based on the updated risk assessment results, the compensation demand will be re-planned, and a new dynamic compensation instruction sequence will be compiled. The compensation operation will be continuously executed according to the new instructions to ensure the dynamic maintenance of the joint sealing state.

7. A cast iron pipe segment joint leakage dynamic compensation system, based on the cast iron pipe segment joint leakage dynamic compensation method according to claim 1, characterized in that: include: Establish a module: Use an optical fiber strain sensor array installed in the bolt holes of the pipe segment to collect the time series data matrix of the bolt axial stress. Simultaneously, a laser rangefinder installed at the pipe segment joint measures the dynamic series of the joint gap width. Distributed optical fiber seepage sensors are used to obtain the spatial distribution vector of the leakage water flow rate. A corrosion potential probe is used to measure the corrosion rate of the joint interface. This establishes a multi-source monitoring data set including stress, gap width, water flow rate, and corrosion rate. Generation module: This module is used to analyze the collected multi-source monitoring data sets, calculate the bolt stress dispersion, and construct a leakage risk index through weight coefficients based on the gap width change, leakage water flow rate, stress dispersion, and corrosion rate factors. This module then generates a real-time leakage risk level and spatial distribution heat map. Calculation module: used to extract the coordinate set of high-risk areas from the real-time leakage risk level and spatial distribution heat map, build a leakage dynamics model based on the coordinate set, calculate the total leakage rate, and derive the compensation requirement based on the fluid viscosity, sealing material deformation coefficient and water pressure difference parameters obtained through experimental calibration and theoretical calculation in the leakage dynamics model, thereby forming a partition compensation force vector; Solving module: This module is used to establish a collaborative optimization model for bolt groups based on the partitioned compensation force vectors. With the goal of minimizing the bolt torque adjustment, the module combines the bolt cross-sectional area, force transmission angle, and yield torque constraints obtained through bolt design parameters and material performance tests to solve for the optimal torque adjustment and generate a dynamic compensation instruction sequence. Judgment module: used to apply compensation torque through the hydraulic servo actuator according to the dynamic compensation instruction sequence, use the proportional-integral-differential controller to achieve control, and monitor the changes in gap width and stress dispersion in real time; judge whether the gap width change exceeds the threshold or whether the stress dispersion exceeds the alarm threshold. If one of them is detected as abnormal and triggers the alarm device, the leakage risk is re-evaluated to achieve dynamic maintenance of the joint sealing state.

8. The cast iron segment joint leakage dynamic compensation system according to claim 7, characterized in that: The generation module includes: The first calculation unit is used to calculate the bolt stress dispersion based on the multi-source monitoring data set. The calculation formula is as follows: Where, is the bolt stress dispersion, is the number of bolts, For the i The average stress of the bolts, is the average stress of all bolts; Construction unit: used to construct the leakage risk index based on the factors of bolt stress dispersion, gap width change, leakage water flow rate, stress dispersion and corrosion rate. The calculation formula is as follows: Where, is the leakage risk index, α 、 β 、 γ 、 η is the weight coefficient, which is equal to 1 when added together. is the initial gap width, To design the gap threshold, is the dynamic sequence of joint gap width, is the critical value of bolt stress dispersion, is the norm of the leakage water velocity vector, is the maximum permissible water flow rate, is the bolt stress dispersion, is the corrosion rate of the joint interface, is the critical value of corrosion rate; Division unit: used to map the real-time leakage risk level to the spatial position of the segment joint, generate a spatial distribution heat map, and divide the joint area into different risk levels according to the size of the risk index.

9. The cast iron segment joint leakage dynamic compensation system according to claim 7, characterized in that: The computing module includes: Clustering unit: used to set risk thresholds for distinguishing high-risk areas from low-risk areas based on the real-time leakage risk level and spatial distribution heat map. The gradient-constrained DBSCAN algorithm is used to perform spatial clustering on the spatial distribution heat map, combining the risk threshold and the preset gradient sensitivity coefficient. Screening unit: used to traverse the spatial distribution heat map based on the spatial clustering results and extract all the points that meet the requirements ( x , y ) is greater than the risk threshold, and combined with the gradient constraint condition, the coordinate points of the high-risk area of ​​corrosion-stress coupling are screened out and formed into a high-risk area coordinate set; The second calculation unit is used to calculate the effective cross-sectional area of ​​the gap at each high-risk area coordinate point based on the high-risk area coordinate set. The calculation formula is as follows: Where, is the effective cross-sectional area of ​​the gap, is the change of the gap radius under corrosion, is the number of bolts, is the cross-sectional area of ​​the bolt, is the angle between the gap and the horizontal plane; The third calculation unit is used to combine the calculation of the effective cross-sectional area of ​​the gap and the water pressure difference to construct a basic leakage dynamics model. The corrosion enhancement term and the corrosion cross-section correction term are introduced into the basic leakage dynamics model to calculate the corrected leakage rate. The calculation formula is as follows: Where, is the corrected leakage rate, As the basic leakage dynamics model, λ is the risk amplification factor, For corrosion enhancement, is the corrosion section correction term; The fourth calculation unit is used to accumulate the leakage rates of all high-risk areas to obtain the total leakage rate. The calculation formula is as follows: Where, is the total leakage rate, Contains all coordinate points that meet the risk conditions , is the corrected leakage rate.

10. The cast iron segment joint leakage dynamic compensation system according to claim 7, characterized in that: The computing module includes: Derivation unit: used to obtain the fluid viscosity, sealing material deformation coefficient and system operation reference pressure value obtained through experimental measurement, and derive the compensation amount requirement. The calculation formula is as follows: Where, is the total compensation force, is the total leakage rate, is the fluid viscosity, is the deformation coefficient of the sealing material, is the difference between the water pressure and the internal pressure of the segment, It is the base pressure value for system operation; Distribution unit: used to distribute the calculated total compensation force to each compensation actuator to form a partitioned compensation force vector.

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