Multi-point synchronous jacking force distribution and attitude monitoring system and control method for ultra-long distance pipe jacking construction

Abstract

The present application belongs to the technical field of underground pipeline construction, and particularly relates to a multi-point synchronous jacking force distribution and attitude monitoring system and control method for super-long distance pipe jacking construction. The system comprises a sensor module, a data acquisition module, a control module and a hydraulic jacking device. The control module differentiates the displacement signal to obtain the real-time jacking speed of each jacking point, and compares the real-time jacking speed with the preset target jacking speed to obtain the speed deviation. The axial frictional force of the corresponding pipe section is calculated according to the jacking force signal and the displacement signal. The real-time attitude angle signal is compared with the designed target attitude to obtain the attitude deviation. The speed deviation, the axial frictional force of the corresponding pipe section and the attitude deviation are input into the coupling control algorithm, and the jacking force increment or the speed correction amount is output. The present application ensures that the jacking and attitude of the jacking points of the main jacking station and the relay jacking stations can be kept synchronous and coordinated.

Description

Technical Field

[0001] This invention belongs to the field of underground pipeline construction technology, specifically relating to a multi-point synchronous jacking force distribution and attitude monitoring system and control method for ultra-long-distance pipe jacking construction. Background Technology

[0002] Pipe jacking technology is widely used in underground pipeline laying, especially when crossing obstacles such as roads and rivers, as it avoids the disturbance caused by large-scale excavation. During ultra-long-distance pipe jacking, as the jacking distance increases, the frictional resistance between the pipeline and the surrounding soil accumulates, leading to a significant increase in jacking resistance. To overcome the enormous frictional resistance in ultra-long-distance construction, it is usually necessary to deploy intermediate jacking stations (intermediate jacking stations) along the pipeline. These stations provide additional jacking force through intermediate hydraulic cylinders, reducing the impact of friction in sections and ensuring smooth pipe jacking.

[0003] However, currently, the distribution and control of the jacking force at the main jacking and each intermediate jacking station mainly relies on manual adjustments by construction personnel based on experience. The lack of automatic control methods based on real-time operational feedback means that when stratum conditions or frictional resistance change, manual adjustments are often delayed and unable to respond to construction conditions in a timely and accurate manner, easily leading to unreasonable jacking force distribution.

[0004] Furthermore, the control of pipeline posture (including direction and slope) during pipe jacking construction also relies primarily on manual observation and correction. Instruments such as total stations and levels are typically used to measure the positional deviation of the pipe jacking machine head or pipe section. Construction personnel then judge the posture deviation and correct it by adjusting hydraulic cylinders. This manual monitoring and adjustment method suffers from limited measurement frequency and response lag. The accuracy of correction is greatly affected by human factors, making it difficult to promptly correct subtle posture deviations. Consequently, the posture control error is relatively large and the efficiency is low.

[0005] In ultra-long-distance pipe jacking construction, if multiple jacking points work in tandem, asynchronous advancement speeds or jacking forces at each point can lead to adverse consequences. Asynchronous jacking at multiple points can easily cause uneven stress distribution between pipe sections, with some sections potentially experiencing excessive thrust while others receive insufficient thrust. This uneven stress distribution can cause pipe axis misalignment, additional stress and wear at pipe joints, and in severe cases, pipe jamming or damage, endangering construction safety.

[0006] In summary, current ultra-long-distance pipe jacking construction faces prominent challenges such as accumulated friction, delayed jacking force distribution, low efficiency in attitude monitoring and correction, and asynchronous multi-point coordination. Therefore, there is an urgent need for an intelligent pipe jacking system capable of acquiring pipeline attitude information in real time, automatically distributing jacking force at each jacking point, and achieving closed-loop control. Such a system would facilitate synchronous multi-point jacking and automatic attitude correction in ultra-long-distance pipe jacking construction, thereby improving construction accuracy and efficiency while ensuring structural safety. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the aforementioned background technology and provide a multi-point synchronous jacking force distribution and attitude monitoring system and control method for ultra-long-distance pipe jacking construction.

[0008] The technical solution adopted in this invention is: a multi-point synchronous jacking force distribution and attitude monitoring system for ultra-long-distance pipe jacking construction, comprising a sensor module, a data acquisition module, a control module, and a hydraulic jacking device.

[0009] The sensor module, located on each hydraulic jacking device, includes an integrated pressure and displacement sensor for acquiring the jacking force and displacement signals at each jacking point; and an attitude sensor for acquiring the attitude angle signal of the pipe section.

[0010] The data acquisition module is communicatively connected to the sensor module and is used to acquire and digitize the top force signal, displacement signal and attitude angle signal in real time.

[0011] The control module communicates with the data acquisition module and the hydraulic jacking device. It performs numerical differentiation on the displacement signal to obtain the real-time advance speed of each jacking point and compares it with the preset target advance speed to obtain the speed deviation. It calculates the axial friction resistance of the corresponding pipe section based on the jacking force signal and the displacement signal. It compares the real-time attitude angle signal with the designed target attitude to obtain the attitude deviation. It inputs the speed deviation, the axial friction resistance of the corresponding pipe section and the attitude deviation into the coupled control algorithm and outputs the jacking force increment or speed correction amount.

[0012] The hydraulic jacking device is installed at the jacking points of the main jacking station and several intermediate jacking stations of the pipe jacking machine. After receiving the jacking force increment or speed correction, the output jacking force or propulsion speed of the hydraulic jacking device is adjusted respectively to achieve multi-point synchronous jacking and real-time correction of pipe section attitude.

[0013] This system establishes a complete closed-loop link between sensing, data acquisition, control calculation, and hydraulic execution, enabling multi-point synchronous advancement and real-time attitude correction during ultra-long-distance pipe jacking. Automatic force distribution and continuous deviation correction significantly improve axial accuracy, reduce reliance on manual experience, effectively decrease peak stress on the cutterhead and pipe sections, and extend the service life of the cutters and pipe sections, thereby comprehensively improving construction efficiency and safety.

[0014] Preferably, the control module obtains the velocity deviation at each jacking point according to the following steps:

[0015] Displacement signals at each jacking point are synchronously acquired with a fixed sampling period Δt.

[0016] The real-time propulsion velocity v of the i-th jacking point at the k-th sampling time is calculated using the first-order backward difference method according to the following formula. i(k):

[0017]

[0018] The average value of the real-time propulsion speed is calculated within a sliding window of length N to obtain the smoothed speed.

[0019]

[0020] Smooth speed Advance speed relative to the preset target By comparison, the velocity deviation Δv is obtained. i (k):

[0021]

[0022] Where, Δt: sampling period of the displacement signal; xi(k): displacement of the i-th apex at the current sampling time k; xi(k-1): displacement of the i-th apex at the previous sampling time; v i (k): Real-time propulsion speed of the i-th apex point calculated based on the difference; N: Length of the sliding window, used to smooth the speed; Smoothing speed after averaging via a sliding window; The target advancing speed set for the construction conditions; Δvi(k): speed deviation, which is the difference between the target advancing speed and the smooth speed.

[0023] By employing a fixed sampling period combined with first-order difference and moving average methods, measurement noise can be suppressed while ensuring real-time performance, resulting in a smooth and accurate propulsion speed. Speed ​​deviation is quantified as a continuously controllable variable, providing precise input for the coordination of subsequent multi-station jacks, making synchronous propulsion control more stable and reliable.

[0024] A preferred method is to calculate the axial frictional resistance of the corresponding pipe segment based on the jacking force signal and displacement signal. The calculation steps include:

[0025] By continuously collecting and accumulating the jacking force signals at each jacking point, the total thrust F of the pipe jacking is obtained. total (k), and simultaneously accumulate the displacement signal to obtain the cumulative jacking displacement S of the pipe jacking. tot,k When the displacement increment ΔS i =S tot,k -S tot,k-1 When =Li, it is equal to the preset length L of the i-th pipe segment. i At this point, record the total thrust, which is the sum of the jacking forces F at all jacking points when the i-th pipe section is advanced. total (i);

[0026] Read the total jacking force F recorded when the previous pipe section was jacked. total (i-1);

[0027] Calculate the foundation friction R of the i-th pipe section. i :R i =F total (i)-F total (i-1);

[0028] The lubrication correction factor α is set according to the construction conditions. lub Formation correction factor α soil and slope correction factor α slope Corrected axial friction

[0029]

[0030] Among them, F total (k) represents the total thrust at the k-th sampling time; S tot,k S represents the cumulative displacement at the k-th sampling time. tot,k-1 L represents the cumulative jacking displacement value of the previous sampling time (k–1) immediately preceding the current sampling time k; i F is the design length of the i-th pipe segment; total (i), F total (i-1) represent the total jacking force at all jacking points when advancing to the i-th and i-1-th pipe sections, respectively; R i α is the foundation frictional resistance of the i-th pipe segment obtained by difference; lub This is a lubrication condition correction factor, with a value <1 for adequate lubrication and approaching 1 for insufficient lubrication; α soil This is a stratigraphic type correction factor, set based on the differences in soil properties such as sand, clay, and gravel layers; α slope This is the slope correction factor, with a value >1 for uphill sections, a value <1 for downhill sections, and a value of 1 for horizontal sections; The axial frictional resistance of the i-th pipe segment is the result of comprehensive correction.

[0031] By combining the differential force method with displacement triggering conditions, axial frictional resistance can be calculated in segments without adding extra sensors. Furthermore, by incorporating lubrication, formation, and slope correction coefficients, the frictional resistance estimate closely matches actual operating conditions. Real-time monitoring of frictional resistance can provide early warning of abnormal sections, ensuring thrust output remains within a safe range and reducing the risk of pipe jamming.

[0032] Preferably, the real-time attitude angle signal is compared with the designed target attitude to obtain the attitude deviation, including:

[0033] Based on the current mileage position of the pipe jacking machine, the target pitch angle, target yaw angle, and target roll angle corresponding to that position are read from the pre-stored attitude design curve;

[0034] The real-time pitch angle, real-time yaw angle, and real-time roll angle of the pipe jacking machine at the same position are obtained from the attitude sensor;

[0035] The pitch angle deviation is obtained by subtracting the design target pitch angle from the real-time pitch angle, the yaw angle deviation is obtained by subtracting the design target yaw angle from the real-time yaw angle, and the roll angle deviation is obtained by subtracting the design target roll angle from the real-time roll angle.

[0036] The system uses odometer coordinates to retrieve the target attitude angle from the attitude design curve, and then compares it with the real-time attitude angle to obtain the deviations in the pitch, yaw, and roll directions. After separating the three-axis errors, targeted force distribution and attitude correction can be performed, maintaining the design slope and direction even during curves, climbs, or the final stage, reducing errors and delays caused by manual measurement and manual adjustment.

[0037] A preferred approach is to couple the speed deviation, the axial frictional resistance of the corresponding pipe segment, and the attitude deviation into a control algorithm, and output the jacking force increment or speed correction as follows:

[0038] With speed deviation as the main control variable, a speed feedback channel is constructed and the initial top force increment or initial speed correction is output by a PID controller or a fuzzy PID composite controller.

[0039] The pitch angle deviation, yaw angle deviation, and roll angle deviation are input into the fuzzy controller, and the output is the gain coefficient used for attitude correction.

[0040] The magnitude of the thrust increment is dynamically adjusted by using the corrected axial frictional resistance as the thrust modulation factor.

[0041] Construct an objective function that is a weighted sum of the square of the velocity deviation, the square of the attitude correction gain coefficient, and the square of the axial frictional resistance, and solve it together for the top force increment and / or velocity correction.

[0042] The above control process is applicable to real-time operation in PLC or embedded control systems, and is used to realize multi-point synchronous propulsion and real-time attitude correction control of the pipe jacking machine.

[0043] Coupled control algorithms integrate speed deviation, frictional resistance, and attitude deviation into a single optimization framework, achieving the dual objectives of synchronous propulsion and attitude correction. Fuzzy PID composite control combines fast dynamic response with steady-state accuracy, suppressing oscillations and avoiding overshoot. It can also be directly deployed on ordinary PLCs or embedded controllers, offering low hardware and software implementation costs and strong portability.

[0044] The preferred objective function J i The expression is as follows:

[0045]

[0046] Where, Δvi k represents the velocity deviation at the i-th jacking point. atti This represents the attitude correction gain coefficient. w1 is the corrected axial frictional resistance of the i-th pipe segment; w2 is the velocity deviation weighting coefficient; w3 is the attitude deviation weighting coefficient; w4 is the axial frictional resistance weighting coefficient.

[0047] By using a quadratic objective function to weight and sum the three indices of velocity, attitude, and friction, the controller can flexibly balance propulsion synchronization, attitude accuracy, and thrust stability according to the weights. The matrix form of the objective function facilitates offline parameter tuning or online adaptive adjustment using optimal control theory, giving the control strategy good scalability and theoretical verifiability.

[0048] More preferably, the attitude correction gain coefficient k atti The calculation includes the following steps:

[0049] Divide the pitch angle deviation, yaw angle deviation, and roll angle deviation at position i by the maximum permissible deviation threshold in the corresponding direction to obtain the normalized deviation value. and

[0050] Set weighting coefficients w for pitch angle, yaw angle, and roll angle respectively. pitch w yaw and w roll The total attitude deviation is calculated using the following weighted formula:

[0051]

[0052] The total attitude deviation ε att,i Input the piecewise gain mapping function to obtain the attitude correction gain coefficient k. atti :

[0053] When ε att,i When k is less than the first threshold atti Equals 0;

[0054] When ε att,i When k is between the first threshold and the second threshold atti With ε att,i Linear growth;

[0055] When ε att,i When k is greater than the second threshold atti It equals 1.

[0056] The attitude correction gain coefficient is first normalized and weighted to obtain the comprehensive deviation, and then converted into a gain value through a piecewise mapping function. This method has low computational cost, clear rules, and is suitable for real-time operation. The gain automatically decreases when the deviation is extremely small to avoid unnecessary adjustment, and rapidly increases when the deviation is too large to ensure that the attitude quickly returns to correct without overshoot.

[0057] Preferably, the hydraulic jacking device is a hollow high-pressure hydraulic jack with a rated thrust of not less than 1000kN, a rated working pressure of 25MPa, and a stroke range of 300mm to 1000mm.

[0058] Hollow high-pressure hydraulic jacks with a rated thrust of over 1,000 kN and a stroke of 300 to 1,000 mm are selected to fully meet the thrust requirements of long-distance, high-friction pipe jacking. The hollow structure facilitates the installation of sensors or wiring through pipes, and the high-pressure, low-flow design reduces the energy consumption of the hydraulic system, improves overall energy efficiency, and reduces the space required for pipeline layout.

[0059] Preferably, the hydraulic jacking device is a hydraulic jacking system installed at the main jacking station and several intermediate jacking stations of the pipe jacking machine, and the hydraulic jacking system includes:

[0060] A hydraulic cylinder and piston assembly is used to convert hydraulic energy into a pushing force;

[0061] The proportional control hydraulic valve group is used to regulate the hydraulic flow and pressure, so as to control the magnitude of the jacking force and the propulsion speed.

[0062] The displacement sensor is integrated into the cylinder block for real-time detection of propulsion displacement;

[0063] The pressure sensor is installed in the oil inlet line or the cylinder inlet chamber to detect the output force in real time;

[0064] Quick couplings and hydraulic connection components are used to connect to a central hydraulic station or control module;

[0065] The hydraulic jacking device can be configured individually or in groups, acting on multiple jacking points to achieve multi-point synchronous jacking.

[0066] The hydraulic jack system integrates pressure sensors, displacement sensors, and proportional valve groups to achieve independent closed-loop control of each jacking point, thereby significantly improving the accuracy of jacking force adjustment. Quick couplings and modular hydraulic circuit design simplify on-site assembly and maintenance, and the number of jacking points can be flexibly increased or decreased according to construction needs, ensuring that the multi-point synchronous function can operate stably under different working conditions.

[0067] This invention also provides a control method for multi-point synchronous jacking force distribution and attitude monitoring in ultra-long-distance pipe jacking construction, comprising: acquiring jacking force signals, displacement signals, and attitude angle signals of pipe sections at each jacking point; performing numerical differentiation on the displacement signals to obtain the real-time advancing speed of each jacking point, and comparing it with a preset target advancing speed to obtain the speed deviation; calculating the axial frictional resistance of the corresponding pipe section based on the jacking force signals and displacement signals; comparing the real-time attitude angle signals with the designed target attitude to obtain the attitude deviation; inputting the speed deviation, the axial frictional resistance of the corresponding pipe section, and the attitude deviation into a coupled control algorithm, and outputting a jacking force increment or speed correction; adjusting the output jacking force or advancing speed of the hydraulic jacking devices distributed at the jacking points of the main jacking station and several intermediate jacking stations according to the jacking force increment or speed correction, thereby realizing multi-point synchronous jacking and real-time correction of pipe section attitude.

[0068] Compared with existing technologies, the advantages of this invention are as follows: Addressing the problems in current ultra-long-distance pipe jacking construction where the main jacking and intermediate jacking points rely on manual experience to adjust the jacking force, and attitude control depends on manual observation or single-point instruments, resulting in response lag, poor adjustment accuracy, difficulty in synchronous control, and low correction efficiency and inability to achieve multi-point coordinated action when jacking deviations occur, this invention proposes a system integrating a sensor module, a data acquisition module, a control module, and a hydraulic jacking device. This system integrates multiple sensors and an automatic control unit, possessing real-time monitoring and multi-target control capabilities for propulsion speed, frictional resistance, and attitude.

[0069] By using sensors to perceive jacking force, speed, frictional resistance, and attitude in real time, and with the control module autonomously adjusting the jacking force output, this invention eliminates the reliance on manual experience to adjust the jacking force, ensuring synchronized and coordinated advancement and attitude between the main jacking point and each intermediate jacking point. Under automatic control, the system overcomes the problems of response lag and low adjustment accuracy caused by manual observation and single-point instrument control. When deviations occur in the jacking trajectory, the system can quickly identify and coordinate multiple jacking points for efficient correction, solving the deficiency of multi-point coordinated action in existing technologies. Furthermore, by real-time monitoring and adaptive control of frictional resistance during the pipe jacking process, the system can automatically adjust the advancement parameters according to changes in frictional resistance, maintaining a smooth and stable jacking process and further improving control accuracy and response speed. This automated operation reduces manual intervention, not only improving construction efficiency but also reducing wear and tear on equipment and pipelines due to more stable and precise jacking control, thereby extending the service life of the pipe jacking equipment and pipelines. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0071] Figure 1 This is a schematic diagram of the functional modules of an embodiment 1 of the multi-point synchronous jacking force distribution and attitude monitoring system for ultra-long-distance pipe jacking construction of the present invention;

[0072] Figure 2 This is a flowchart illustrating Embodiment 2 of the control method for multi-point synchronous jacking force distribution and attitude monitoring in ultra-long-distance pipe jacking construction according to the present invention. Detailed Implementation

[0073] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding the present invention, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0074] Example 1

[0075] like Figure 1 As shown, this invention provides a multi-point synchronous jacking force distribution and attitude monitoring system for ultra-long-distance pipe jacking construction, including a sensor module, a data acquisition module, a control module, and a hydraulic jacking device.

[0076] The sensor module, located on each hydraulic jacking device, includes an integrated pressure and displacement sensor for acquiring the jacking force and displacement signals at each jacking point; and an attitude sensor for acquiring the attitude angle signal of the pipe section.

[0077] The data acquisition module is communicatively connected to the sensor module and is used to acquire and digitize the top force signal, displacement signal and attitude angle signal in real time.

[0078] The control module communicates with the data acquisition module and the hydraulic jacking device. It performs numerical differentiation on the displacement signal to obtain the real-time advance speed of each jacking point and compares it with the preset target advance speed to obtain the speed deviation. It calculates the axial friction resistance of the corresponding pipe section based on the jacking force signal and the displacement signal. It compares the real-time attitude angle signal with the designed target attitude to obtain the attitude deviation. It inputs the speed deviation, the axial friction resistance of the corresponding pipe section and the attitude deviation into the coupled control algorithm and outputs the jacking force increment or speed correction amount.

[0079] The hydraulic jacking device is installed at the jacking points of the main jacking station and several intermediate jacking stations of the pipe jacking machine. After receiving the jacking force increment or speed correction, the output jacking force or propulsion speed of the hydraulic jacking device is adjusted respectively to achieve multi-point synchronous jacking and real-time correction of pipe section attitude.

[0080] The control module obtains the velocity deviation at each jacking point according to the following steps:

[0081] Displacement signals at each jacking point are synchronously acquired with a fixed sampling period Δt (0.02s-0.10s);

[0082] The real-time propulsion velocity v of the i-th jacking point at the k-th sampling time is calculated using the first-order backward difference method according to the following formula. i (k):

[0083]

[0084] The average value of the real-time propulsion speed is obtained by averaging the values ​​within a sliding window of length N (3≤N≤10).

[0085]

[0086] Smooth speed Advance speed relative to the preset target By comparison, the velocity deviation Δv is obtained. i (k):

[0087]

[0088] Where Δt: sampling period of the displacement signal; x i (k): The displacement of the i-th apex at the current sampling time k; x i (k-1): The displacement of the i-th apex at the previous sampling time; v i (k): Real-time propulsion speed of the i-th apex point calculated based on the difference; N: Length of the sliding window, used to smooth the speed; Smoothing speed after averaging via a sliding window; The target advance speed set for the construction conditions; Δv i (k): velocity deviation, which is the difference between the target propulsion speed and the smooth speed.

[0089] The axial frictional resistance of the corresponding pipe section is calculated based on the jacking force signal and displacement signal. The calculation steps include:

[0090] By continuously collecting and accumulating the jacking force signals at each jacking point, the total thrust F of the jacking pipe can be obtained. total (k), and simultaneously accumulate the displacement signal to obtain the cumulative jacking displacement S of the pipe jacking. tot,k When the displacement increment ΔSi =S tot,k -S tot,k-1 =L i When, it is equal to the preset length L of the i-th pipe segment. i At this point, record the total thrust, which is the sum of the jacking forces F at all jacking points when the i-th pipe section is advanced. total (i);

[0091] Read the total jacking force F recorded when the previous pipe section was jacked. total (i-1);

[0092] Calculate the foundation friction R of the i-th pipe section. i :R i =F total (i)-F total (i-1);

[0093] The lubrication correction factor α is set according to the construction conditions. lub Formation correction factor α soil and slope correction factor α slope Corrected axial friction

[0094]

[0095] Among them, F total (k) represents the total thrust at the k-th sampling time; S tot,k S represents the cumulative displacement at the k-th sampling time. tot,k-1 L represents the cumulative jacking displacement value of the previous sampling time (k–1) immediately preceding the current sampling time k; i F is the design length of the i-th pipe segment; total (i), F total (i-1) represent the total jacking force at all jacking points when advancing to the i-th and i-1-th pipe sections, respectively; R i α is the foundation frictional resistance of the i-th pipe segment obtained by difference; lub This is a lubrication condition correction factor, with a value <1 for adequate lubrication and approaching 1 for insufficient lubrication; α soil This is a stratigraphic type correction factor, set based on the differences in soil properties such as sand, clay, and gravel layers; α slope This is the slope correction factor, with a value >1 for uphill sections, a value <1 for downhill sections, and a value of 1 for horizontal sections; The axial frictional resistance of the i-th pipe segment is the result of comprehensive correction.

[0096] The real-time attitude angle signal is compared with the designed target attitude to obtain the attitude deviation, including:

[0097] Based on the current mileage position of the pipe jacking machine, the target pitch angle, target yaw angle, and target roll angle corresponding to that position are read from the pre-stored attitude design curve;

[0098] The real-time pitch angle, real-time yaw angle, and real-time roll angle of the pipe jacking machine at the same position are obtained from the attitude sensor;

[0099] The pitch angle deviation is obtained by subtracting the design target pitch angle from the real-time pitch angle, the yaw angle deviation is obtained by subtracting the design target yaw angle from the real-time yaw angle, and the roll angle deviation is obtained by subtracting the design target roll angle from the real-time roll angle.

[0100] The process of inputting the speed deviation, the axial frictional resistance of the corresponding pipe section, and the attitude deviation into the coupled control algorithm, and outputting the jacking force increment or speed correction, is as follows:

[0101] With speed deviation as the main control variable, a speed feedback channel is constructed and the initial top force increment or initial speed correction is output by a PID controller or a fuzzy PID composite controller.

[0102] The pitch angle deviation, yaw angle deviation, and roll angle deviation are input into the fuzzy controller, and the output is the gain coefficient used for attitude correction.

[0103] The magnitude of the thrust increment is dynamically adjusted by using the corrected axial frictional resistance as the thrust modulation factor.

[0104] Construct an objective function that is a weighted sum of the square of the velocity deviation, the square of the attitude correction gain coefficient, and the square of the axial frictional resistance, and solve it together for the top force increment and / or velocity correction.

[0105] The above control process is applicable to real-time operation in PLC or embedded control systems, and is used to realize multi-point synchronous propulsion and real-time attitude correction control of the pipe jacking machine.

[0106] Objective function J i The expression is as follows:

[0107]

[0108] Where, Δv i k represents the velocity deviation at the i-th jacking point. atti This represents the attitude correction gain coefficient. w1 is the corrected axial frictional resistance of the i-th pipe segment; w2 is the velocity deviation weighting coefficient; w3 is the attitude deviation weighting coefficient; w4 is the axial frictional resistance weighting coefficient.

[0109] The attitude correction gain coefficient k atti The calculation includes the following steps:

[0110] Divide the pitch angle deviation, yaw angle deviation, and roll angle deviation at position i by the maximum permissible deviation threshold in the corresponding direction to obtain the normalized deviation value. and

[0111] Set weighting coefficients w for pitch angle, yaw angle, and roll angle respectively. pitch w yaw and w roll The total attitude deviation is calculated using the following weighted formula:

[0112]

[0113] The total attitude deviation ε att,i Input the piecewise gain mapping function to obtain the attitude correction gain coefficient k. atti :

[0114] When ε att,i When k is less than the first threshold atti Equals 0;

[0115] When ε att,i When k is between the first threshold and the second threshold atti With ε att,i Linear growth;

[0116] When ε att,i When k is greater than the second threshold atti It equals 1.

[0117] The hydraulic jacking device preferably adopts a hollow high-pressure hydraulic jack with a rated thrust of not less than 1000kN, a rated working pressure of 25MPa, and a stroke range of 300mm to 1000mm.

[0118] The hydraulic jacking device specifically refers to a hydraulic jacking system installed at the main jacking station and several intermediate jacking stations of the pipe jacking machine. The hydraulic jacking system includes:

[0119] A hydraulic cylinder and piston assembly is used to convert hydraulic energy into a pushing force;

[0120] The proportional control hydraulic valve group is used to regulate the hydraulic flow and pressure, so as to control the magnitude of the jacking force and the propulsion speed.

[0121] The displacement sensor is integrated into the cylinder block for real-time detection of propulsion displacement;

[0122] The pressure sensor is installed in the oil inlet line or the cylinder inlet chamber to detect the output force in real time;

[0123] Quick couplings and hydraulic connection components are used to connect to a central hydraulic station or control module;

[0124] The hydraulic jacking device can be configured individually or in groups, acting on multiple jacking points to achieve multi-point synchronous jacking.

[0125] This embodiment was applied in a drainage tunnel project. The project used reinforced concrete pipe sections with an inner diameter of 3000mm, with a single-line jacking distance of approximately 600m. The section required tunneling under a river and urban road. To overcome the accumulated frictional resistance during the long-distance jacking process, in addition to the main jacking station at the starting shaft, intermediate jacking stations were set up at 200m and 400m intervals along the route. The construction stratum consisted of soft clay mixed with fine sand, with a high groundwater level, which easily led to a rapid increase in frictional resistance. Traditional methods relying on manual pressure adjustment and manual correction could not meet the dual requirements of axis accuracy and thrust safety for this section. Therefore, the multi-point synchronous jacking force distribution and attitude monitoring system of this invention was adopted for construction.

[0126] System hardware composition

[0127] 1) Hydraulic jacking device: The main jacking station and the two intermediate jacking stations are equipped with hollow high-pressure hydraulic jacks (rated thrust 1000kN, working pressure 25MPa, stroke 600mm). The hydraulic circuits of each jack are connected in series with proportional control hydraulic valves to realize programmable adjustment of thrust and speed.

[0128] 2) Sensor Module: Pressure-Displacement Integrated Sensor: A pressure transmitter with an accuracy of 0.5%FS is installed on the hydraulic circuit of each jack; a magnetostrictive displacement sensor with a resolution of 0.01mm is embedded in the piston rod of the cylinder. Attitude Sensor: A three-axis fiber optic gyroscope-accelerometer combined inertial navigation unit is arranged inside the shield tunneling (pipe jacking) head, with a dynamic accuracy of ±0.1°.

[0129] 3) Data acquisition module: The Siemens ET200SP-AI and high-speed counting module are used, with the sampling period Δt set to 0.05s, to synchronously acquire and digitize pressure, displacement and attitude signals.

[0130] 4) Control Module: A Siemens S7-1500 PLC paired with an industrial PC is selected. The PLC is responsible for high-speed closed-loop logic, while the industrial PC runs the coupled control algorithm and provides a human-machine interface.

[0131] 5) Lubrication and drag reduction system: A bentonite grouting valve is installed every 15m, which is automatically opened by the control module to form a mud film and reduce friction.

[0132] After implementing the multi-point synchronous jacking force distribution and attitude monitoring system for ultra-long-distance pipe jacking construction, during the 600m jacking process, the peak value of the main jacking thrust decreased from 1.30MN (traditionally manually adjusted) to 1.10MN, with the fluctuation range converging to ±0.04MN. The three-axis attitude deviation of the pipe jacking machine was consistently controlled within ±5mm of the corresponding angle, with the maximum deviation reduced by approximately 70% compared to the manual adjustment stage. The recovery time for typical attitude disturbances was shortened from an average of 45s to 12s. The entire pipeline was completed in one go, with the endpoint coordinate deviation less than 30mm, meeting the design requirements. This embodiment verifies the comprehensive advantages of the system of the present invention in achieving stable jacking force, accurate attitude, and rapid response in long-distance, large-diameter pipe jacking.

[0133] Example 2

[0134] like Figure 2 As shown, this invention provides a control method for multi-point synchronous jacking force distribution and attitude monitoring in ultra-long-distance pipe jacking construction, including: acquiring jacking force signals, displacement signals, and pipe segment attitude angle signals at each jacking point; performing numerical differentiation on the displacement signals to obtain the real-time advancing speed of each jacking point, and comparing it with a preset target advancing speed to obtain the speed deviation; calculating the axial frictional resistance of the corresponding pipe segment based on the jacking force signals and displacement signals; comparing the real-time attitude angle signals with the designed target attitude to obtain the attitude deviation; inputting the speed deviation, the axial frictional resistance of the corresponding pipe segment, and the attitude deviation into a coupled control algorithm, and outputting a jacking force increment or speed correction; adjusting the output jacking force or advancing speed of the hydraulic jacking devices distributed at the jacking points of the main jacking station and several intermediate jacking stations according to the jacking force increment or speed correction, thereby realizing multi-point synchronous jacking and real-time correction of pipe segment attitude.

[0135] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those 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. Contents not described in detail in this specification belong to prior art known to those skilled in the art.

Claims

1. A multi-point synchronous jacking force distribution and attitude monitoring system for super-long distance pipe jacking construction, characterized in that: The hydraulic jacking device comprises a sensor module, a data acquisition module, a control module and a hydraulic jacking device, The sensor module is arranged on each hydraulic jacking device and comprises a pressure displacement integrated sensor for acquiring the jacking force signal and the displacement signal of each jacking point. The attitude sensor is used to acquire the attitude angle signal of the pipe section. The data acquisition module is in communication connection with the sensor module and is used to acquire and digitize the jacking force signal, the displacement signal and the attitude angle signal in real time. The control module is in communication connection with the data acquisition module and the hydraulic jacking device, differentiates the displacement signal to obtain the real-time pushing speed of each jacking point, compares the real-time pushing speed with the preset target pushing speed to obtain the speed deviation, calculates the axial frictional resistance of the corresponding pipe section according to the jacking force signal and the displacement signal, compares the real-time attitude angle signal with the design target attitude to obtain the attitude deviation, inputs the speed deviation, the axial frictional resistance of the corresponding pipe section and the attitude deviation into a coupling control algorithm, and outputs the jacking force increment or the speed correction amount. The hydraulic jacking device is installed at the jacking points of the main jacking station and a plurality of relay jacking stations of the pipe jacking machine, adjusts the output jacking force or the pushing speed of the hydraulic jacking device after receiving the jacking force increment or the speed correction amount, and realizes the multi-point synchronous jacking and real-time correction of the attitude of the pipe section. The axial frictional resistance of the corresponding pipe section is calculated based on the jacking force signal and the displacement signal, and the calculation steps comprise: The jacking force signals of each jacking point are continuously collected and accumulated to obtain the total jacking force F of the pipe total (k), while the displacement signals are accumulated to obtain the accumulated jacking displacement S of the pipe tot,k When the displacement increment ΔS i tot,k -S tot,k_1 =L i , that is, equal to the preset length L i of the i-th pipe section, the total jacking force at this time, that is, the total jacking force F total (i) of all jacking points when jacking to the i-th pipe section is recorded.​ Read the total jacking force F recorded during jacking of the pipe section in the previous section total (i-1); calculating a base frictional resistance R for the i-th section of pipe i :R i =F total (i)-F total (i-1) Lubrication correction factor α is set according to construction conditions lub , formation correction factor α soil , and slope correction factor α slope Corrected axial frictional resistance : =R i ·α lub ·α soil ·α slope ； wherein, F total (k) is the total thrust at the kth sampling time; S tot,k is the cumulative displacement at the kth sampling time; S tot,k-1 is the cumulative jacking displacement value immediately before the last sampling time (k-1) before the current sampling time k; L i is the design length of the ith pipe section; F total (i), F total (i-1) are the total jacking forces of all jacking points when jacking to the ith and ith-1 pipe sections, respectively; R i is the differential obtained ith pipe section basic friction; α lub is the lubrication state correction coefficient, which is <1 when fully lubricated and tends to 1 when insufficiently lubricated; α soil is the stratum category correction coefficient, which is set according to the differences in soil properties of sand, clay, and pebble layers; α slope is the slope correction coefficient, which is >1 for uphill sections, <1 for downhill sections, and =1 for horizontal sections; is the comprehensive corrected ith pipe section axial friction; The process of inputting the speed deviation, the axial frictional resistance of the corresponding pipe section and the attitude deviation into the coupling control algorithm and outputting the jacking force increment or the speed correction amount comprises: Taking the speed deviation as the main control variable, a speed feedback channel is constructed, and a PID controller or a fuzzy PID compound controller is used to output the preliminary jacking force increment or the preliminary speed correction amount; The pitch angle deviation, the yaw angle deviation and the roll angle deviation are input into a fuzzy controller to output the gain coefficient for attitude correction; The corrected axial frictional resistance is taken as a thrust modulation factor to dynamically adjust the amplitude of the thrust increment; A target function is constructed by weighting and summing the square of the speed deviation, the square of the attitude correction gain coefficient and the square of the axial frictional resistance, and the jacking force increment and / or the speed correction amount are jointly solved. The above control process is suitable for real-time operation in a PLC or an embedded control system, and is used to realize the multi-point synchronous pushing and real-time attitude correction control of the pipe jacking machine.

2. The multi-point synchronous jacking force distribution and attitude monitoring system for super-long distance pipe pushing construction of claim 1, characterized in that: The control module obtains the speed deviation of each jacking point according to the following steps: The displacement signal of each jacking point is synchronously acquired at a fixed sampling period Δt; The real-time pushing speed v of the ith jacking point at the kth sampling time is calculated by the first-order backward difference according to the following formula i (k): ； averaging the real-time advancing speed over a sliding window of length N to obtain a smoothed speed : ； Smoothed speed after sliding window averaging Target pushing speed set in accordance with the preset construction working condition Comparison, to obtain speed deviation Δv i (k): ； where Δt: displacement signal sampling period; x i (k): displacement of the ith top-in point at the current sampling time k; x i (k-1): displacement of the ith top-in point at the previous sampling time; v i (k): real-time pushing speed of the ith top-in point according to the difference calculation; N: sliding window length, used for smoothing the speed.

3. The multi-point synchronous jacking force distribution and attitude monitoring system for super-long distance pipe pushing construction of claim 1, characterized in that: The process of comparing the real-time attitude angle signal with the design target attitude to obtain the attitude deviation comprises: According to the current mileage position of the pipe jacking machine, the design target pitch angle, the design target yaw angle and the design target roll angle corresponding to the position are read from the pre-stored attitude design curve; The real-time pitch angle, the real-time yaw angle and the real-time roll angle of the pipe jacking machine at the same position are acquired from the attitude sensor; The real-time pitch angle is subtracted from the design target pitch angle to obtain the pitch angle deviation, the real-time yaw angle is subtracted from the design target yaw angle to obtain the yaw angle deviation, and the real-time roll angle is subtracted from the design target roll angle to obtain the roll angle deviation.

4. The super-long distance pipe pushing construction multi-point synchronous pushing force distribution and posture monitoring system according to claim 1, characterized in that: Objective function J i The expression is as follows: ； wherein Δv i is the velocity deviation of the ith top-in point; k atti is the attitude correction gain coefficient; is the corrected axial friction of the ith pipe section; w1 is the velocity deviation weight coefficient; w2 is the attitude deviation weight coefficient; and w3 is the axial friction weight coefficient.

5. The multi-point synchronous jacking force distribution and attitude monitoring system for super-long distance pipe pushing construction of claim 4, characterized in that: The posture correction gain coefficient k atti The calculation of the posture correction gain coefficient k comprises the following steps: dividing the pitch angle deviation, the yaw angle deviation and the roll angle deviation at the i-th position by the maximum allowed deviation threshold of the corresponding direction, respectively, to obtain normalized deviation values ; and ; weight coefficients w for pitch angle, yaw angle and roll angle, respectively pitch yaw roll and the total attitude deviation is calculated according to the following weighting formula:​​ ； The total attitude deviation amount ε is calculated as follows: att,i The input segment gain mapping function is obtained, and the attitude correction gain coefficient k is obtained atti : when ε att,i is less than a first threshold, k atti is equal to 0; When ε att,i k atti With ε att,i linearly; When ε att,i is greater than the second threshold, k atti equals 1.

6. The super-long distance pipe pushing construction multi-point synchronous pushing force distribution and posture monitoring system according to claim 1, characterized in that: The hydraulic jacking device adopts a hollow high-pressure hydraulic jack with a rated thrust of not less than 1000 kN, a rated working pressure of 25 MPa, and a stroke range of 300 mm to 1000 mm.

7. The super-long distance pipe pushing construction multi-point synchronous pushing force distribution and posture monitoring system according to claim 1, characterized in that: The hydraulic jacking device is specifically a hydraulic jack system arranged at the main jacking station and the plurality of relay jacking stations of the pipe jacking machine, and the hydraulic jack system comprises: a hydraulic cylinder body and a piston assembly for converting hydraulic energy into jacking force; a proportional control hydraulic valve group for adjusting hydraulic flow and pressure to realize controllable jacking force and jacking speed; a displacement sensor integrated on the cylinder body for real-time detection of jacking displacement; a pressure sensor installed at an oil inlet pipeline or a cylinder cavity for real-time detection of output jacking force; a quick connector and oil line connection assembly for communication with a central hydraulic station or a control module; The hydraulic jacking device can be configured individually or in groups and respectively acts on a plurality of jacking points to realize the multi-point synchronous jacking function.

8. The control method of the multi-point synchronous jacking force distribution and attitude monitoring system for super-long distance pipe pushing construction according to claim 1, characterized in that: comprises: acquiring jacking force signals, displacement signals and attitude angle signals of pipe sections at the jacking points; performing numerical differentiation on the displacement signals to obtain real-time jacking speeds of the jacking points, and comparing the real-time jacking speeds with preset target jacking speeds to obtain speed deviations; calculating axial frictional forces of corresponding pipe sections according to the jacking force signals and the displacement signals; comparing real-time attitude angle signals with design target attitudes to obtain attitude deviations; inputting the speed deviations, the axial frictional forces of the corresponding pipe sections and the attitude deviations into a coupling control algorithm, and outputting jacking force increments or speed correction amounts; and adjusting output jacking forces or jacking speeds of the hydraulic jacking devices at the jacking points of the main jacking station and the plurality of relay jacking stations of the pipe jacking machine according to the jacking force increments or the speed correction amounts to realize multi-point synchronous jacking and real-time correction of pipe section attitudes.

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