Intelligent control method and system for buried sinking process of five-connected-cylinder foundation

Abstract

The invention relates to the technical field of wind power foundation construction, and discloses an intelligent control method and system for the buried sinking process of a five-connected-cylinder foundation, and the method comprises the following steps: obtaining preset parameters of the five-connected-cylinder foundation and real-time data of a sensor; according to the real-time data, three critical suction including soil body damage critical suction, structural buckling critical suction and pumping available suction are calculated in parallel; comparing and taking a minimum value to determine a cooperative control suction upper limit; generating a target suction instruction based on the upper limit and issuing the target suction instruction to an actuator to adjust the actual suction; closed-loop control is achieved by continuously collecting state data changed due to the suction effect. According to the method, the critical suction force of three dimensions of soil body damage, structural buckling and pumping capacity is calculated in parallel, the minimum value is used as the cooperative control upper limit, a dynamic safe operation domain is constructed, and it is ensured that the sinking operation is always under the protection of the strictest constraint.

Description

Technical Field

[0001] This invention relates to the field of wind power foundation construction technology, specifically to an intelligent control method and system for the process of sinking a five-tube foundation into the ground. Background Technology

[0002] As marine engineering expands into deep-sea areas, the application of large multi-cylinder suction foundations is becoming increasingly widespread. The five-cylinder foundation, as one type of structure, relies on a core step in its installation process: creating negative pressure by pumping water into the cylinders, and then using the pressure difference between the inside and outside to sink it into the seabed at a predetermined depth. During this process, the precise control of the suction pressure directly determines the safety of the foundation installation, construction efficiency, and the final project quality.

[0003] In existing technologies, control methods for suction-assisted descent typically rely on geotechnical investigations and structural strength checks conducted before construction. These methods provide a clear set of operating procedures and fixed suction limits for on-site operations. During specific descent stages, operators only need to refer to these preset limits for equipment adjustments. This approach simplifies the on-site decision-making process and allows control to be traced back to existing, independent engineering analysis reports, supporting basic individual safety checks.

[0004] However, the aforementioned existing technologies still have several technical shortcomings when dealing with complex immersion processes. First, the existing control logic treats soil failure and structural instability as two independent problems, checking them separately and providing independent control suggestions. This separate analysis method fails to establish a dynamic safety domain that can unify and coordinate multiple physical constraints, leading to the construction process unintentionally breaking through another, more stringent implicit limitation while meeting one safety indicator. Second, these methods heavily rely on static, pre-calculated parameters, and the control limits they provide cannot be adjusted in real time as the immersion depth increases. They ignore the dynamic evolution of the cylinder-soil-water interaction during the immersion process, resulting in control strategies that cannot accurately match the actual working conditions at each depth, or are overly conservative in order to ensure safety, or fail due to lagging behind the actual risks. Finally, the actual operation process is highly dependent on manual monitoring and adjustment, lacking an automated closed-loop feedback mechanism. This makes the control accuracy and response speed limited by the operator's experience, making it difficult to guarantee the consistency and reliability of the construction process, and failing to form a standardized, repeatable, and precise construction process. To address these issues, those skilled in the art propose an intelligent control method and system for the immersion and sinking process of a five-tube foundation. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent control method and system for the immersion process of a five-tube foundation, which solves the problems of incomplete risk assessment, low control accuracy, and insufficient reliability in the immersion process caused by fragmented control logic, inability to dynamically adapt to working conditions, and lack of closed-loop feedback mechanism in existing technologies.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent control method and system for the burial and sinking process of a five-tube foundation.

[0007] The first aspect of this invention provides an intelligent control method for the burial and sinking process of a five-tube foundation, the method comprising:

[0008] Preset parameters for the five-tube foundation are obtained, including the foundation's geometric parameters, material properties, site environmental parameters, and equipment performance parameters. Simultaneously, real-time status data is collected using a sensor array deployed on the five-tube foundation. In one specific embodiment, the collection of real-time status data via the sensor array includes: obtaining the real-time sinking depth using displacement gauges; obtaining the pore water pressure inside and outside the tubes using pore pressure sensors; and obtaining the tube wall strain using strain gauges.

[0009] Based on the collected real-time status data, especially the real-time immersion depth, multiple critical suction calculations are performed in parallel, including:

[0010] 1. Calculation of critical suction for soil failure: This method determines the soil type at the bottom of the casing based on the current immersion depth and the preset soil profile. If the soil type is sandy soil, the critical suction for seepage failure is calculated; if the soil type is cohesive soil, the critical suction for plug heave failure is calculated.

[0011] The critical suction force for permeation disruption is determined by the following formula:

[0012]

[0013] Among them, s crit-s To break the critical suction force through osmosis, γ ′ Let D be the buoyant unit weight of the soil, h be the diameter of the cylindrical foundation, a1 be the pore pressure factor, and k be the buoyant unit weight of the soil. f The ratio of the permeability coefficients inside and outside the cylinder.

[0014] The critical suction force for the soil plug heave failure is determined by the following formula:

[0015]

[0016] Among them, s crit-c The critical suction force for the soil plug to bulge and break down. This is the reverse bearing capacity coefficient. Let K be the average undrained shear strength of the soil at the bottom of the casing, and A be the safety factor. i The depth is the inner surface area of ​​the inner cylinder wall, and α is the viscosity coefficient. Let A be the average undrained shear strength of the soil in the cylinder wall. in This represents the area of ​​the top cover of the cylinder.

[0017] 2. Calculation of critical buckling suction of structure: This method is based on the preset parameters of the five-tube foundation, including the tube wall thickness, radius, unsupported length of the tube wall, and the elastic modulus and Poisson's ratio of the material, to calculate the elastic buckling strength of the shell and thus determine the critical buckling suction of the structure.

[0018] The critical buckling suction force of the structure is determined by the following formula:

[0019]

[0020] Where s is the critical buckling suction force of the structure, and f E Let t be the elastic buckling strength of the shell, t be the wall thickness of the skirt, and r be the radius of the cylindrical foundation.

[0021] 3. Calculation of available suction for pumping: This method sums the suction that the pump itself can provide with the hydrostatic pressure difference determined by the water depth, skirt length and current submersion depth to obtain the available suction for pumping.

[0022] The available suction for pumping is determined by the following formula:

[0023] s1 = s pump +γ w (h w -L+h);

[0024] Where s1 is the available suction force for pumping, s pump For the suction force that the pump itself can provide, γ w h is the specific gravity of water. w L is the water depth, L is the skirt length, and h is the submersion depth.

[0025] Subsequently, a collaborative decision-making process was performed on the three calculated suction values ​​to determine the upper limit of the collaborative control suction. This decision-making process included: first, selecting the smaller value between the critical suction for soil failure and the critical suction for structural buckling as the safety upper limit; then, again selecting the smaller value between the determined safety upper limit and the available pumping suction as the final upper limit of the collaborative control suction.

[0026] Based on the upper limit of the collaborative control suction force, a target suction force command is generated. In one specific implementation, generating the target suction force command includes multiplying the upper limit of the collaborative control suction force by a preset safety coefficient, and setting first-level and second-level risk warning thresholds according to the upper limit.

[0027] Finally, the generated target suction command is sent to the actuator to adjust the actual suction force acting on the five-tube foundation. The sensor array continuously collects real-time state data that changes due to the actual suction force, thus forming a closed-loop control. In one specific embodiment, this closed-loop control manifests as follows: after the actuator completes the adjustment of the actual suction force, the five-tube foundation generates a new sinking depth. This new sinking depth is used by the system as new real-time state data to trigger the system to repeatedly execute subsequent parallel computing, collaborative decision-making, and command generation steps.

[0028] A second aspect of the present invention provides an intelligent control system for the process of burying and sinking a five-tube foundation, the system being used to implement the method described in any of the foregoing embodiments.

[0029] The system includes:

[0030] The data acquisition module is used to acquire preset parameters of the five-tube foundation and real-time status data collected by a group of sensors deployed on the five-tube foundation.

[0031] The parallel computing module, electrically connected to the data acquisition module, is used to receive real-time status data and calculate in parallel based on the data to obtain the critical suction force for soil failure, the critical suction force for structural buckling, and the available suction force for pumping at the current sinking depth.

[0032] The collaborative decision-making module, electrically connected to the parallel computing module, is used to receive the three calculated critical suction values, and determine the upper limit of the collaborative control suction by comparing the three, thereby generating the target suction command;

[0033] The execution control module, electrically connected to the collaborative decision-making module, is used to receive the target suction command and control the actuator to adjust the actual suction force acting on the five-tube foundation.

[0034] The data acquisition module, parallel computing module, collaborative decision-making module, and execution control module together form a closed-loop control circuit through the sequential transmission and feedback of signals, enabling the system to respond to new real-time status data generated by the actual suction force.

[0035] This invention provides an intelligent control method and system for the burial and sinking process of a five-tube foundation. It has the following beneficial effects:

[0036] 1. This invention constructs a dynamic safe operating domain by parallel calculation of the critical suction of three dimensions: soil failure, structural buckling, and pumping capacity, and uses the minimum value among them as the upper limit of collaborative control. This ensures that the sinking operation is always under the most stringent protection. Compared with the existing technology that relies on static empirical formulas or independent control of individual components, this invention solves the technical defect of incomplete risk assessment caused by ignoring the dynamic coupling effect of multiple factors.

[0037] 2. This invention directly couples real-time sensor data with soil and structural mechanics models to construct a closed-loop feedback control process. This method can accurately adjust the target suction force according to the real-time changes in the immersion depth. Compared with the extensive design of pre-thickening the cylinder wall to prevent buckling in the prior art, this invention solves the problems of material waste and increased costs caused by the lack of real-time accurate calculation capabilities, while improving adaptability to complex geological conditions.

[0038] 3. This invention proposes a complete intelligent control system that integrates functional modules such as data acquisition, parallel computing, collaborative decision-making, and closed-loop execution. It transforms the complex sinking control process into a standardized automated process. Compared with the existing technology, which relies heavily on the experience of on-site engineers for judgment, this invention solves the problems of its control process being susceptible to subjective factors, lacking consistency and repeatability, and significantly improves the overall reliability of construction. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the system framework of the present invention;

[0040] Figure 2 This is a schematic diagram of the method flow of the present invention;

[0041] Figure 3 These are the three suction-depth relationship curves of the present invention;

[0042] Figure 4 The three suction-depth relationship curves of this invention are shown.

[0043] Among them, 100 is the data acquisition module; 200 is the parallel computing module; 300 is the collaborative decision-making module; and 400 is the execution control module. Detailed Implementation

[0044] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Refer to the attached Figure 1 , Figure 1 This is a schematic diagram of an intelligent control system framework according to an embodiment of the present invention. The present invention provides an intelligent control system for the burial process of a five-tube foundation, which may include: a data acquisition module 100, a parallel computing module 200, a collaborative decision-making module 300, and an execution control module 400.

[0046] The data acquisition module 100 is used to acquire preset parameters and real-time status data required for the sinking operation. The preset parameters include the geometric parameters, material properties, site environment parameters, and performance parameters of the construction equipment of the five-tube foundation. The real-time status data is collected by a sensor group deployed on the five-tube foundation, which includes displacement gauges, pore pressure sensors, and strain gauges.

[0047] During the sinking process, the data acquisition module 100 continuously acquires the real-time sinking depth of the foundation through displacement gauges, obtains the pore water pressure of the soil inside and outside the cylinder through pore pressure sensors, and acquires the cylinder wall strain through strain gauges. The acquired parameters and data are transmitted to the parallel computing module 200.

[0048] The parallel computing module 200 is electrically connected to the data acquisition module 100. Its function is to receive the real-time submersion depth transmitted by the data acquisition module 100, and based on this depth, simultaneously run multiple internally integrated computing models to output three independent critical suction values ​​in parallel.

[0049] The parallel computing module 200 integrates a seepage failure control unit, a soil plug failure control unit, a pumping suction control unit, and a structural buckling control unit. Based on the current soil type, the parallel computing module 200 selects one of the seepage failure control unit and the soil plug failure control unit to run, calculating the critical suction force for soil failure; simultaneously, the structural buckling control unit calculates the critical suction force for structural buckling; and the pumping suction control unit calculates the available pumping suction force. The calculation results are transmitted to the collaborative decision-making module 300.

[0050] The collaborative decision-making module 300 is electrically connected to the parallel computing module 200. Its function is to receive the aforementioned three critical suction values ​​and, based on a preset decision logic, determine a unique upper limit for collaborative control suction, thereby generating a target suction command. This decision logic is as follows: First, it compares the critical suction for soil failure with the critical suction for structural buckling, selecting the smaller value as the safe upper limit; then, it compares this safe upper limit with the available pumping suction, again selecting the smaller value as the upper limit for collaborative control suction.

[0051] After determining the upper limit of the cooperative control suction force, the collaborative decision-making module 300 multiplies the upper limit value by a preset safety factor to generate the final target suction force command. This command is then transmitted to the execution control module 400.

[0052] The execution control module 400 is electrically connected to the collaborative decision-making module 300. Its function is to receive the target suction command and send a corresponding control signal to the actuator. The actuator is a unit that controls the pump skid and can adjust the operating state of the suction pump according to the control signal, thereby changing the actual suction value applied to the five-cylinder foundation.

[0053] The data acquisition module 100, parallel computing module 200, collaborative decision-making module 300, and execution control module 400 form a closed-loop control system through the sequential transmission and feedback of electrical signals. The adjustment of the actual suction force by the execution control module 400 will cause a change in the sinking depth of the five-tube foundation. This new depth is then acquired again by the data acquisition module 100, thereby initiating a new round of calculation, decision-making, and control processes.

[0054] Refer to the attached Figure 2 , Figure 2 This is a schematic diagram of a method flow according to an embodiment of the present invention. The present invention provides an intelligent control method for the burial and sinking process of a five-tube foundation, which may include the following steps:

[0055] S10: Perform system initialization and real-time data acquisition. Acquire and load the preset parameters of the five-tube foundation, and continuously collect real-time status data of the foundation through a sensor array, among which the real-time immersion depth is used as a key variable.

[0056] S20, perform multi-constraint parallel calculation. Based on the real-time sinking depth obtained in step S10, calculate in parallel three independent control thresholds: critical suction for soil failure, critical suction for structural buckling, and available suction for pumping.

[0057] S30, make collaborative decisions to determine the upper limit of control. Compare the three control thresholds calculated in step S20, and determine the unique and safe upper limit of collaborative control suction at the current immersion depth based on the preset minimum value logic.

[0058] S40, Generate target suction command. Based on the upper limit of cooperative control suction determined in step S30, combined with the preset safety factor, a specific target suction command is generated, and a corresponding risk warning threshold is set.

[0059] S50: Execute the command and form a closed-loop control. The target suction command generated in step S40 is sent to the actuator to adjust the actual suction. After the base immersion depth changes, new real-time status data is collected again in step S10, so that the system repeats steps S20 to S50 to form a continuous closed-loop control.

[0060] In a specific embodiment, the above steps are described in detail below:

[0061] In step S10, system initialization and real-time data acquisition are performed. Before the sinking operation begins, the preset parameters of the five-tube foundation are loaded into the intelligent control system. These preset parameters include:

[0062] Basic geometric parameters include the diameter D, radius r, skirt length L, wall thickness t of each cylinder in the five-cylinder foundation, and the diameter of the single-cylinder foundation calculated from the equivalent area of ​​the top cover.

[0063] Material properties: including the elastic modulus E and Poisson's ratio ν of the steel that makes up the cylinder wall.

[0064] Site environmental parameters: including the water depth h of the construction area. w The data also includes soil profile data obtained from geological surveys, specifically the physical and mechanical properties of soil layers at different depths, including the buoyant unit weight γ of sandy soils. ′ Undrained shear strength s of cohesive soil u and sensitivity s t .

[0065] Equipment performance parameters: including the suction force (s) that the suction pump used in construction can provide. pump .

[0066] These preset parameters serve as fixed values ​​or known functions throughout the immersion process, and are used in subsequent calculation steps.

[0067] After the sinking operation begins, the system continuously collects real-time status data of the foundation through a sensor array deployed on the five-tube foundation. This data collection process includes:

[0068] The current sinking depth h of the foundation is measured and obtained in real time using displacement gauges installed on top of the foundation. This sinking depth h is the key dynamic variable driving all subsequent parallel computations.

[0069] By installing pore pressure sensors on the inside and outside of the cylinder wall, pore water pressure data of the soil inside and outside the cylinder is acquired in real time. This data is used to verify the calculation model of seepage failure.

[0070] Strain gauges installed on the cylinder wall are used to acquire strain data at key locations on the cylinder wall in real time. This data is used to verify the structural buckling calculation model.

[0071] The collected real-time status data, especially the real-time immersion depth h, is transmitted to the subsequent step S20 for processing.

[0072] In step S20, multi-constraint parallel calculations are performed. The system receives the real-time sinking depth h transmitted in step S10, and based on this depth h, initiates three independent calculation processes in parallel to obtain the critical suction force for soil failure, the critical suction force for structural buckling, and the available suction force for pumping.

[0073] The first calculation process is to determine the critical suction force for soil failure. The system first determines the type of soil at the bottom of the cylinder based on the real-time sinking depth h and the preset soil profile data.

[0074] If the identified soil type is sandy soil, then the system calculates the critical suction force s for seepage failure. crit-s The critical suction force is determined by the following formula:

[0075]

[0076] Among them, s crit-s To break the critical suction force through osmosis, γ ′ Let D be the buoyant unit weight of the soil, h be the diameter of the cylindrical foundation, a1 be the pore pressure factor, and k be the buoyant unit weight of the soil. f The ratio of the permeability coefficients inside and outside the cylinder.

[0077] The pore pressure factor a1 and the permeability ratio k f Determined by the following formula:

[0078]

[0079] If the identified soil type is cohesive soil, the system calculates the critical suction force s for soil plug heave failure. crit-c The critical suction force is determined by the following formula:

[0080]

[0081] Among them, s ctit-c The critical suction force for the soil plug to bulge and break down. This is the reverse bearing capacity coefficient. Let K be the average undrained shear strength of the soil at the bottom of the casing, and A be the safety factor. i The immersion depth is the inner surface area of ​​the inner cylinder wall, and α is the viscosity coefficient (α = 1 / s). t s t (for the sensitivity of clay), Let A be the average undrained shear strength of the soil in the cylinder wall. in This represents the area of ​​the top cover of the cylinder.

[0082] The reverse bearing capacity coefficient Determined by the following formula:

[0083]

[0084] The second calculation process involves determining the critical suction force *s* for structural buckling. This calculation is independent of soil type and is performed in parallel with the preceding calculations. The critical suction force is determined by the following formula:

[0085]

[0086] Where s is the critical buckling suction force of the structure, and f E Let t be the elastic buckling strength of the shell, t be the wall thickness of the skirt, and r be the radius of the cylindrical foundation.

[0087] The shell's elastic buckling strength f E Determined by the following formula:

[0088]

[0089] Where E is the elastic modulus of steel, ν is the Poisson's ratio of the material, l is the unsupported length of the cylinder wall, and C is the curvature reduction factor.

[0090] The refractive index reduction factor C is determined by the following formula:

[0091]

[0092] Where ψ, ξ, and ρ are curvature coefficients.

[0093] The third calculation process is to determine the available pumping suction force s1. This calculation process is performed in parallel with the first two. The available suction force is determined by the following formula:

[0094] s1 = s pump +γ w (h w -L+h);

[0095] Where s1 is the available suction force for pumping, s pump For the suction force that the pump itself can provide, γ w h is the specific gravity of water. w L is the water depth, L is the skirt length, and h is the submersion depth.

[0096] After the above three calculation processes are completed, the numerical results of the critical suction for soil failure, critical suction for structural buckling, and available suction for pumping are transmitted to the subsequent step S30 for processing.

[0097] In step S30, collaborative decision-making is performed to determine the upper limit of control. The system receives three numerical results obtained from the parallel calculation in step S20: the critical suction for soil failure, the critical suction for structural buckling, and the available suction for pumping.

[0098] This step uses a two-stage comparison process to determine the upper limit of the unique cooperative control suction at the current immersion depth.

[0099] In the first stage, the system compares two physical constraints—soil stability and structural safety—to determine the safety upper limit s. limit This process is achieved by selecting the smaller value between the critical suction force for soil failure and the critical suction force for structural buckling. The determination method is as follows:

[0100] s limit =min(s) soil ,s);

[0101] Among them, s limit For safety limits; s soil The critical suction force for soil failure calculated in step S20 is s, specifically the critical suction force for seepage failure.crit-s Or the soil plug bulges and breaks the critical suction force s crit-c ; s is the critical buckling suction force of the structure calculated in step S20.

[0102] In the second phase, the system will apply the security limit s determined in the first phase. limit Compare with the device's capability constraints to determine the final upper limit of the cooperative control suction force s max This process is achieved through a safety limit of s. limit Among the available suction forces for pumping, the smaller value is selected to achieve the desired result. The determination method is as follows:

[0103] s max =min(s) limit ,s1);

[0104] Among them, s max To coordinate and control the upper limit of suction force; s limit s1 is the safety limit calculated in the first stage; s2 is the available suction force for pumping calculated in step S20.

[0105] Based on the comparison of the two stages above, the upper limit of the cooperative control suction force s is determined. max It is the maximum suction value that simultaneously satisfies three conditions: no soil damage, no structural buckling, and the suction force does not exceed the pumping capacity of the equipment. This value is then transmitted to the subsequent step S40 for processing.

[0106] In step S40, a target suction command is generated. The system receives the upper limit of the cooperative control suction force s determined in step S30. max Based on this upper limit, a target suction force command s is generated that can be directly issued to the actuator. target .

[0107] To ensure sufficient safety margin during the immersion process, the target suction command s target By coordinating the control of the upper limit of suction force s max Multiplied by a preset safety factor K s To determine the safety factor K s It is a value less than 1. Its determination method is as follows:

[0108] s target =s max ×K s ;

[0109] Among them, s target For target suction force command; s max The upper limit of the cooperative control suction force determined by step S30; K s This is the preset safety factor.

[0110] Simultaneously, in this step, the system also controls the upper limit of suction force based on collaborative control. max Set risk warning thresholds. For example, set a first-level risk warning threshold and a second-level risk warning threshold. When the actual suction force detected exceeds the first-level risk warning threshold, the system activates the first-level risk response strategy; when the actual suction force approaches or exceeds the second-level risk warning threshold, the system activates the second-level risk response strategy.

[0111] After this step is completed, the target suction command s is generated. target It is then transferred to the subsequent step S50 for processing.

[0112] In step S50, the command is executed and closed-loop control is formed. The system will execute the target suction command s generated in step S40. target Send to the executor.

[0113] After receiving the target suction command, the actuator adjusts the operating status of the pump skid, such as adjusting the power or speed of the suction pump, so that the actual suction value applied inside the five-cylinder foundation approaches the target suction command s. target The value.

[0114] Under the adjusted actual suction force, the five-tube foundation continues to sink into the soil, which causes a change in its sinking depth h.

[0115] The system continuously collects status data through the sensor group in step S10. Therefore, the change in the aforementioned immersion depth h is captured in real time by the displacement gauge and input into the system as new real-time status data.

[0116] The new real-time status data is transmitted to step S20, which automatically triggers a new round of multi-constraint parallel computation, collaborative decision-making, and target suction command generation. The entire method, through the cyclical execution of steps S10 to S50, constitutes a continuous and adaptive closed-loop control loop, realizing dynamic adjustment of the sinking process.

[0117] To further clarify the collaborative working process of the technical solution described in this invention, a specific working scenario example will be used for illustration below.

[0118] This embodiment applies to the installation of a five-tube foundation for an offshore wind farm. First, step S10 is executed, inputting the preset parameters for this scenario into the intelligent control system. These preset parameters include: foundation diameter D of 8 meters, radius r of 4 meters, skirt length L of 30 meters, wall thickness t of 0.05 meters, unsupported length l of the wall of 3 meters, and steel elastic modulus E of 2.1 x 10⁻⁶. 11 Pa, Poisson's ratio ν is 0.3, and the suction force s that the pump itself can provide is... pump The pressure is 100 kPa, and the construction water depth is h.w The depth is 20 meters. Geological survey data shows that the seabed is composed of sandy soil at a depth of 0 to 15 meters, and clay soil at a depth of 15 meters or less.

[0119] Once the sinking operation begins, the system enters a continuous closed-loop control process.

[0120] During the immersion depth h from 0 meters to 15 meters, the system executes step S20. Based on the preset soil profile, the system determines that the current soil is sandy soil, and therefore calculates the following three items in parallel:

[0121] Based on the real-time immersion depth h, the critical suction force s for seepage failure of sandy soil is calculated. crit-s .

[0122] The buckling critical suction force s of the structure is calculated based on the real-time immersion depth h.

[0123] Based on the real-time immersion depth h, the available pumping suction s1 is calculated.

[0124] Subsequently, the system executes step S30. For example, when h = 5 meters, the system compares the calculated s... crit-s s and s1 determine the upper limit of the cooperative control suction force s max .

[0125] The system repeats this calculation and decision-making process within a depth range of 0 to 15 meters, generating the results shown in the attached figure. Figure 3 The three suction-depth relationship curves are shown.

[0126] Ultimate upper limit of cooperative control suction force s max At any depth h, take the minimum value of the corresponding points on the three curves.

[0127] When the immersion depth h exceeds 15 meters, the system enters the clay layer. In step S20, the system automatically switches the calculation model. At this time, the three parallel calculations are:

[0128] Based on the real-time immersion depth h, the critical suction force s for soil plug heave failure is calculated. crit-c .

[0129] Based on the real-time immersion depth h, the critical buckling suction s of the structure is further calculated.

[0130] Based on the real-time submersion depth h, the available pumping suction s1 is calculated.

[0131] During the immersion process below 15 meters, the system repeats step S30. For example, when h = 20 meters, the system compares the calculated s... crit-c s and s1 determine the upper limit of the cooperative control suction force s at this depth. max This process generates the following: Figure 4The three suction-depth relationship curves are shown.

[0132] Throughout the entire immersion process (0 to 30 meters), the system, through steps S40 and S50, determines the upper limit of the cooperative control suction force s at each depth point. max Multiply by a safety factor to generate the target suction command s target The system then issues commands for execution, while simultaneously creating a closed loop through real-time feedback from a cluster of sensors. This method ensures that the actual suction force applied remains within a safe range determined by multiple constraints throughout the entire operation.

[0133] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent control method for the burial and sinking process of a five-tube foundation, characterized in that, Includes the following steps: The preset parameters of the five-tube foundation and the real-time status data collected by the sensor group deployed on the five-tube foundation are obtained. Based on the real-time status data, the critical suction force for soil failure, the critical suction force for structural buckling, and the available suction force for pumping at the current sinking depth are calculated in parallel. The safety upper limit is determined by comparing the critical suction force for soil failure with the critical suction force for structural buckling, and the safety upper limit is compared with the available pumping suction force. The smaller value between the safety upper limit and the available pumping suction force is selected as the upper limit of the cooperative control suction force for the current sinking depth. Based on the aforementioned upper limit of the cooperative control suction force, a target suction force command is generated; The target suction command is sent to the actuator to adjust the actual suction force acting on the five-tube foundation. The sensor group continuously collects real-time status data that changes due to the actual suction force, thereby realizing closed-loop control of the sinking process.

2. The intelligent control method for the burial and sinking process of a five-tube foundation according to claim 1, characterized in that, The real-time status data collected by the sensor array deployed on the five-cylinder foundation includes: Real-time immersion depth is obtained using a displacement gauge; The pore water pressure inside and outside the cylinder is obtained by a pore pressure sensor; The strain of the cylinder wall is obtained by strain gauge.

3. The intelligent control method for the burial and sinking process of a five-tube foundation according to claim 1, characterized in that, The calculation to obtain the critical suction force for soil failure at the current sinking depth includes: Determine the type of soil at the bottom of the cylinder based on the current sinking depth and the pre-set soil layer profile; If the soil type is sandy soil, then the critical suction for seepage failure is calculated. If the soil type is cohesive soil, the critical suction force for soil plug heave failure is calculated.

4. The intelligent control method for the burial and sinking process of a five-tube foundation according to claim 1, characterized in that, The calculation to obtain the critical buckling suction force of the structure at the current immersion depth includes: Based on the preset parameters of the five-tube foundation, such as the tube wall thickness, radius, unsupported tube wall length, and the elastic modulus and Poisson's ratio of the material, the elastic buckling strength of the shell is calculated, and the critical buckling suction force of the structure is determined by combining the tube wall thickness and radius.

5. The intelligent control method for the burial and sinking process of a five-tube foundation according to claim 1, characterized in that, The calculation to obtain the available pumping suction at the current submersion depth includes: The available suction force of the pump is obtained by summing the suction force provided by the pump itself with the hydrostatic pressure difference determined by the water depth, skirt length and current submersion depth.

6. The intelligent control method for the burial and sinking process of a five-tube foundation according to claim 3, 4, or 5, characterized in that, The critical suction force for permeation disruption is determined by the following formula: Among them, s crit-s The critical suction for seepage failure is given, γ′ is the buoyant unit weight of the soil, D is the diameter of the cylindrical foundation, h is the sinking depth, a1 is the pore pressure factor, and k is the pore pressure factor. f The ratio of the permeability coefficients inside and outside the cylinder; The critical suction force for the soil plug heave failure is determined by the following formula: Among them, s crit-c The critical suction force for the soil plug to bulge and break down. This is the reverse bearing capacity coefficient. Let K be the average undrained shear strength of the soil at the bottom of the casing, and A be the safety factor. i The depth is the inner surface area of ​​the inner cylinder wall, and α is the viscosity coefficient. Let A be the average undrained shear strength of the soil in the cylinder wall. in The area of ​​the top cover; The critical buckling suction force of the structure is determined by the following formula: Where s is the critical buckling suction force of the structure, and f E Where t is the elastic buckling strength of the shell, t is the wall thickness of the skirt, and r is the radius of the cylindrical foundation; The available suction for pumping is determined by the following formula: s1=s pump +γ w (h w -L+h); Where s1 is the available suction force for pumping, s pump For the suction force that the pump itself can provide, γ w h is the specific gravity of water. w L is the water depth, L is the skirt length, and h is the submersion depth.

7. The intelligent control method for the burial and sinking process of a five-tube foundation according to claim 1, characterized in that, The steps for determining the upper limit of the cooperative control suction at the current immersion depth include: First, the smaller value between the critical suction force for soil failure and the critical suction force for structural buckling is selected as the safety upper limit. Then, the smaller value between the safety upper limit and the available pumping suction is selected as the upper limit of the cooperative control suction.

8. The intelligent control method for the burial and sinking process of a five-tube foundation according to claim 1, characterized in that, The command to generate the target suction force includes: The target suction command is obtained by multiplying the upper limit of the cooperative control suction force by a preset safety factor; And set first-level and second-level risk warning thresholds based on the upper limit of the cooperative control suction force.

9. The intelligent control method for the burial and sinking process of a five-tube foundation according to claim 1, characterized in that, The implementation of closed-loop control over the sinking process includes: After the actuator completes the adjustment of the actual suction force, the five-tube foundation generates a new sinking depth. This new sinking depth is used as new real-time status data to trigger the system to repeat the following steps: The critical suction for soil failure, critical suction for structural buckling, and available suction for pumping corresponding to the new sinking depth were calculated again in parallel. And a new upper limit for the cooperative control suction force was determined again; And generate new target suction commands again.

10. An intelligent control system for the burial and sinking process of a five-tube foundation, applied to the intelligent control method for the burial and sinking process of a five-tube foundation as described in any one of claims 1-9, characterized in that, include: The data acquisition module is used to acquire preset parameters of the five-tube foundation and real-time status data collected by a group of sensors deployed on the five-tube foundation. The parallel computing module is used to receive the real-time status data obtained by the data acquisition module, and to calculate in parallel the critical suction force for soil failure, critical suction force for structural buckling, and available suction force for pumping at the current sinking depth based on the real-time status data. The collaborative decision-making module is used to receive the critical suction force for soil failure, the critical suction force for structural buckling, and the available suction force for pumping obtained by the parallel computing module, and compare the three to determine the upper limit of the collaborative control suction force, thereby generating a target suction force command. The execution control module is used to receive the target suction command generated by the collaborative decision-making module and control the actuator to adjust the actual suction force acting on the five-tube foundation. The new real-time status data generated after the actual suction force is applied is collected again by the data acquisition module, thereby forming a closed-loop control.

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