Vibration force-pressure cooperative control method and system for template lowering control system

Abstract

The invention belongs to the field of industrial control, and provides a vibration force-pressure cooperative control method and system for a template lowering control system, and the method comprises the steps: generating continuous equivalent stiffness data of a template and foundation soil and template vibration equivalent mass data according to continuously obtained template parameters and geological parameters; according to the continuous equivalent stiffness data of the template and the foundation soil and the template vibration equivalent mass data, a continuous instantaneous friction damping ratio is generated, and the continuous instantaneous friction damping ratio comprises an instantaneous friction damping ratio at the current moment and an instantaneous friction damping ratio at the previous moment; generating an instantaneous frictional damping ratio difference according to the instantaneous frictional damping ratio at the current moment and the instantaneous frictional damping ratio at the previous moment; and whether the instantaneous friction damping ratio difference is larger than a preset threshold value or not is judged, and if yes, the current vibration force value and the current pressure value are compensated. By means of the method, the problems that in the construction process, formwork lowering excessively depends on geological survey, the labor cost is high, and the construction efficiency is low are solved.

Description

Technical Field

[0001] This application belongs to the field of industrial control, and in particular relates to a vibration force-pressure system control method and system for a template lowering control system. Background Technology

[0002] Currently, when addressing foundation settlement and deformation by controlling the formwork below the industrial control system, the rigid pile composite foundation method is mostly adopted. This method effectively solves the settlement and deformation problem due to its good reinforcement effect and high reinforcement quality. However, the application of the rigid pile composite foundation method still relies on advance geological surveys. Only by surveying the soil strata structure in advance can the industrial main controller calculate the required vibration force and pressure during the lowering of the pile formwork. Advance surveys not only waste manpower and reduce construction efficiency, but also cannot accurately control the intensity of vibration force and pressure during the lowering process, and may even lead to misjudgments. Summary of the Invention

[0003] This application provides a vibration force-pressure system control method and system for a template lowering control system, which can solve the problems of increased labor costs and low construction efficiency in the rigid pile composite foundation method, which requires geological surveys to be carried out in advance during construction.

[0004] In a first aspect, this application provides a vibration force-pressure coordinated control system for a template lowering control system, including a multi-dimensional sensor and an industrial main controller. The multi-dimensional sensor continuously collects template parameters and geological parameters, and the industrial main controller includes: The first calculation module is used to generate continuous equivalent stiffness data of the template and foundation soil and equivalent mass data of template vibration based on continuously acquired template parameters and geological parameters. The second calculation module is used to generate a continuous instantaneous friction damping ratio based on the continuous equivalent stiffness data of the template and the foundation soil and the equivalent mass data of template vibration. The continuous instantaneous friction damping ratio includes: the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment. The third calculation module is used to generate the instantaneous friction damping ratio difference based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment. The compensation module is used to determine whether the instantaneous friction damping ratio difference is greater than a preset threshold. If so, it compensates for the current vibration force value and pressure value.

[0005] In one embodiment achievable under this application, the template parameters include: the outer diameter of the template, the instantaneous contact length of the template, the density of the template, the lateral area of ​​the template, and the wall thickness of the template; the geological parameters include: Poisson's ratio and the compression modulus of the interface soil; the first calculation module includes: The first sub-calculation module is used to generate the contact area between the template and the foundation soil based on the outer diameter of the template and the instantaneous contact length of the template. The second sub-calculation module is used to generate equivalent stiffness data of the template and the foundation soil based on the contact area between the template and the foundation soil, Poisson's ratio, and the compression modulus of the interface soil. The third sub-calculation module is used to generate template vibration equivalent mass data based on the template density, the instantaneous contact length of the template, and the lateral area of ​​the template.

[0006] In one embodiment that can be implemented in this application, the second computing module includes: The fourth sub-calculation module is used to generate continuous natural angular frequencies based on the ratio of the continuous equivalent stiffness data of the template and the foundation soil to the equivalent mass data of template vibration. The fifth sub-calculation module is used to generate a continuous instantaneous friction damping ratio based on the continuous natural angular frequency and the obtained real-time template axial vibration displacement amplitude.

[0007] In one embodiment that can be implemented in this application, the fifth sub-computing module further includes: The judgment module is used to determine whether the instantaneous friction damping ratio is less than 0. If so, the absolute value of the instantaneous friction damping ratio is calculated.

[0008] In one embodiment that can be implemented in this application, the third computing module includes: The sixth sub-calculation module is used to subtract the instantaneous friction damping ratio of the previous moment from the instantaneous friction damping ratio of the current moment to generate the instantaneous friction damping ratio difference.

[0009] In one embodiment that can be implemented in this application, the compensation module includes: The first sub-compensation module is used to calculate the vibration force compensation value and the pressure compensation value when the instantaneous friction damping ratio difference is greater than a preset threshold. The second sub-compensation module is used to compensate the current vibration force value and pressure value based on the vibration force compensation value and the pressure compensation value.

[0010] In one embodiment achievable under this application, the preset threshold in the first sub-compensation module is a dynamically adjusted threshold, and the method for generating the dynamically adjusted threshold includes: Collect all instantaneous friction damping ratio differences within a preset time interval, and calculate the mean and standard deviation of all instantaneous friction damping ratio differences; The dynamic adjustment threshold for the current time period is generated based on the preset depth dynamic safety factor and the mean and standard deviation of the instantaneous friction damping ratio difference.

[0011] In one embodiment that can be implemented in this application, the first sub-compensation module includes: The third sub-compensation module is used to generate the vibration force compensation value based on the obtained vibration force compensation coefficient, vibration force function proportional coefficient, instantaneous friction damping ratio at the previous moment, and instantaneous friction damping ratio difference. The fourth sub-compensation module is used to generate the pressure compensation value based on the obtained pressure compensation coefficient, pressure function proportional coefficient, instantaneous friction damping ratio at the previous moment, contact area between the template and the foundation soil, and the difference in instantaneous friction damping ratio.

[0012] In one embodiment that can be implemented in this application, the module further includes the following after the second sub-compensation module: The fifth sub-compensation module is used to calculate the difference in instantaneous friction damping ratio after compensation based on multiple instantaneous friction damping ratio data after compensation. The first judgment module is used to perform secondary compensation on the vibration force value and pressure value according to the secondary compensation coefficient when the difference in instantaneous friction damping ratio after compensation is greater than the preset compensation threshold. The second judgment module is used to maintain the current vibration force and pressure values ​​if otherwise.

[0013] Secondly, this application provides a vibration force-pressure system control method for a template lowering control system, the method comprising: The control system continuously collects dynamic parameters, and based on preset template parameters and geological parameters, obtains the equivalent stiffness and vibration equivalent mass of the template and foundation soil. The instantaneous friction damping ratio at the current moment is generated based on the equivalent stiffness and vibration equivalent mass of the template and the foundation soil. Based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment, an instantaneous friction damping ratio difference is generated. It is then determined whether the instantaneous friction damping ratio difference is greater than a preset threshold. If so, the vibration force and pressure applied to the control system are compensated based on a preset compensation rule.

[0014] In one embodiment achievable under this application, obtaining the equivalent stiffness and vibration equivalent mass of the template and foundation soil based on preset template parameters and geological parameters includes: The template parameters include: the outer diameter of the template, the instantaneous contact length of the template, the density of the template, the lateral area of ​​the template, and the wall thickness of the template; the geological parameters include: Poisson's ratio and the compressibility modulus of the interface soil. The contact area between the template and the foundation soil is generated based on the outer diameter of the template and the instantaneous contact length of the template. Based on the contact area between the template and the foundation soil, Poisson's ratio, and the compression modulus of the interface soil, the equivalent stiffness data of the template and the foundation soil are generated. Based on the density of the template, the instantaneous contact length of the template, and the lateral area of ​​the template, the equivalent mass data of template vibration is generated.

[0015] In one embodiment achievable under this application, generating the instantaneous friction damping ratio at the current moment based on the equivalent stiffness and vibration equivalent mass of the template and the foundation soil includes: Based on the ratio of the equivalent stiffness data of the template and the foundation soil to the equivalent mass data of template vibration, a continuous natural angular frequency is generated. Based on the continuous natural angular frequency and the obtained real-time template axial vibration displacement amplitude, a continuous instantaneous friction damping ratio is generated.

[0016] In one embodiment achievable under this application, after generating the continuous instantaneous friction damping ratio, the method further includes: Determine whether the instantaneous friction damping ratio is less than 0. If so, calculate the absolute value of the instantaneous friction damping ratio.

[0017] In one embodiment achievable under this application, generating the instantaneous friction damping ratio difference based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment includes: The instantaneous friction damping ratio difference is generated by subtracting the instantaneous friction damping ratio of the previous moment from the instantaneous friction damping ratio of the current moment.

[0018] In one embodiment achievable under this application, the compensation for vibration and pressure applied to the control system based on a preset compensation rule includes: Based on the obtained vibration force and pressure parameters, calculate the vibration force compensation value and pressure compensation value; The current vibration force value and pressure value are compensated based on the vibration force compensation value and the pressure compensation value.

[0019] In one embodiment achievable under this application, the preset threshold is a dynamically adjusted threshold, and the method for generating the dynamically adjusted threshold includes: Collect all instantaneous friction damping ratio differences within a preset time interval, and calculate the mean and standard deviation of all instantaneous friction damping ratio differences; The dynamic adjustment threshold for the current time period is generated based on the preset depth dynamic safety factor and the mean and standard deviation of the instantaneous friction damping ratio difference.

[0020] In one embodiment achievable under this application, the calculation of the vibration force compensation value and the pressure compensation value includes: The vibration force compensation value is generated based on the obtained vibration force compensation coefficient, vibration force function proportionality coefficient, instantaneous friction damping ratio at the previous moment, and instantaneous friction damping ratio difference. The pressure compensation value is generated based on the obtained pressure compensation coefficient, pressure function proportionality coefficient, instantaneous friction damping ratio at the previous moment, contact area between the template and the foundation soil, and the difference in instantaneous friction damping ratio.

[0021] In one embodiment achievable under this application, after compensating the current vibration force value and pressure value according to the vibration force compensation value and the pressure compensation value, the method further includes: Calculate the difference in instantaneous friction damping ratio after compensation based on multiple instantaneous friction damping ratio data after compensation; When the instantaneous friction damping ratio difference after compensation is greater than the preset compensation threshold, the vibration force value and pressure value are compensated for a second time according to the secondary compensation coefficient. Otherwise, maintain the current vibration force and pressure values.

[0022] As can be seen from the above technical solution, the vibration force-pressure value compensation method of the template lowering control system provided in this application obtains the equivalent stiffness and vibration equivalent mass of the template and foundation soil based on the dynamic parameters, geological and static parameters of the template during the lowering process. Then, the instantaneous friction damping ratio is obtained by using the equivalent stiffness and vibration equivalent mass of the template and foundation soil, thereby converting the calculation of non-structural mechanical parameters in the original lowering process into the calculation of structural mechanical parameters. Then, based on the equivalent structural mechanical parameters, the influence of frictional hindrance caused by soil layer differences and layer characteristics during the lowering process is quantified, and the vibration force-pressure value of the template is compensated based on this influence. Thus, there is no need to conduct geological surveys in advance during the template lowering process. The layer interface is accurately identified by the difference in instantaneous friction damping ratio at continuous moments, thereby enabling real-time compensation of vibration force and pressure. This prevents the template from accidentally touching impurities during the lowering process, which leads to misjudgment and continuous adjustments, resulting in low construction efficiency and reduced labor costs. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings that can be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a vibration force-pressure system control method for a template lowering control system according to an embodiment of this application.

[0025] Figure 2 This is a top view of the template structure in the embodiments of this application.

[0026] Figure 3 This is a flowchart illustrating the template distribution method in the embodiments of this application.

[0027] Figure 4This is a detailed flowchart of one of the sub-steps of a vibration force-pressure system control method for a template lowering control system in an embodiment of this application.

[0028] Figure 5 This is the second detailed flowchart of a sub-step of a vibration force-pressure system control method for a template lowering control system in an embodiment of this application.

[0029] Figure 6 This is the third detailed flowchart of a sub-step of a vibration force-pressure system control method for a template lowering control system in an embodiment of this application.

[0030] Figure 7 This is a detailed flowchart illustrating further steps of a vibration force-pressure system control method for a template lowering control system according to an embodiment of this application.

[0031] Figure 8 This is a schematic diagram of the structure of a vibration force-pressure system control system for a template lowering control system in an embodiment of this application. Detailed Implementation

[0032] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0033] This application applies to the formwork lowering process in the rigid pile composite foundation method. During the lowering process, the impact energy generated by the vibration force of the vibratory hammer, the self-weight of the formwork, and the pressure applied by the pressure device causes the formwork to sink into the stratum. In real-world scenarios, the soil strata have a layered structure, and the hardness of each layer of the geological structure is different. When encountering a geological structure with greater hardness, the vibration force and pressure can be increased to ensure the formwork is lowered smoothly. Currently, existing technologies require advance surveying of the geological structure data of the strata, and construction personnel adjust the kinetic energy of the vibratory hammer and pressure device in real time based on the pre-surveyed geological structure data.

[0034] It should be noted that existing technologies rely on the correspondence between the depth and soil layers obtained from prior geological surveys. Vibration force and pressure values ​​are preset based on this correspondence. However, during the lowering process, the soil interface may shift due to the applied vibration force and pressure. This can lead to a mismatch between the actual vibration force and pressure and the preset values. Insufficient vibration force and pressure result in a slower lowering speed and lower efficiency, while excessive vibration force and pressure can exacerbate soil structure damage and cause deviations in the lowering direction, requiring corrections and reducing efficiency. Furthermore, the formwork is prone to contacting impurities in the soil during lowering, leading to misjudgments and further reducing efficiency.

[0035] This application obtains the equivalent stiffness and vibration equivalent mass of the formwork and foundation soil based on dynamic parameters, geological parameters, and static parameters of the formwork during continuous data acquisition during the lowering process. Then, it uses these equivalent stiffness and vibration equivalent mass to calculate the instantaneous friction damping ratio, thus transforming the calculation of non-structural mechanical parameters during the lowering process into the calculation of structural mechanical parameters. Based on these equivalent structural mechanical parameters, the impact of frictional resistance caused by soil layer differences and layer characteristics during the lowering process is quantified. This impact is then used to compensate for the vibration force-pressure value of the formwork. Therefore, during the lowering process, there is no need for prior geological surveys. The layered interface is accurately identified by calculating the difference in instantaneous friction damping ratio at continuous moments, enabling real-time compensation of vibration force and pressure. This prevents the formwork from accidentally contacting impurities during lowering, leading to misjudgments and continuous adjustments that result in low construction efficiency and reduced labor costs.

[0036] The present application will now be described in conjunction with the accompanying drawings and specific examples.

[0037] Figure 1 A schematic flowchart of a vibration force-pressure system control method for a template lowering control system provided in this application is provided, the method comprising: S101, The control system continuously collects dynamic parameters, and based on the preset template parameters and geological parameters, obtains the equivalent stiffness and vibration equivalent mass of the template and the foundation soil. S102, Based on the equivalent stiffness and vibration equivalent mass of the template and the foundation soil, generate the instantaneous friction damping ratio at the current moment; S103, Based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment, generate an instantaneous friction damping ratio difference, determine whether the instantaneous friction damping ratio difference is greater than a preset threshold, and if so, compensate for the vibration force and pressure applied in the control system based on a preset compensation rule.

[0038] It should be noted that the template parameters and geological parameters are directly obtained through sensors installed on the template, ensuring their accuracy and laying the foundation for calculating the equivalent stiffness data of the template and the foundation soil, as well as the equivalent mass data of template vibration.

[0039] It should be noted that the soil structure traversed during the overall construction process described in this application is exemplified by the artificial fill interface → silty soil interface → hard interlayer interface. Furthermore, as... Figure 2 As shown, the template described in this application is a hollow structure composed of double-layer steel pipes. This template can form annular hollow pile holes in the foundation, laying the foundation for the next grouting step. The template lowering method process is as follows: Figure 3 As shown, under the condition of ensuring the site is flat, the position of the pile driver is determined, and the pile driver is lowered by vibration at the position. Then, concrete is poured into the cavity of the formwork, and finally the pile is pulled up by vibration. This application is mainly applied to the formwork lowering process of the formwork lowering method.

[0040] It should be noted that the instantaneous friction damping ratio reflects the dynamic parameters of energy dissipation characteristics caused by the friction effect of the contact surface during the dynamic interaction between the template and the surrounding soil. It is a quantitative indicator of the friction energy dissipation capacity in the template lowering control system.

[0041] It should be noted that, in addition to the existing problems, due to the complexity of the construction process, the existing technology, which uses sudden changes in resistance and acceleration as the criteria for judging changes in the soil interface, also has certain problems. For example, the threshold for judging interface changes during the lowering process is generally set as a sudden change in resistance greater than or equal to 30% or a sudden change in acceleration greater than or equal to 25%. However, when the soil contains gravel impurities, the resistance of the template is prone to increase sharply. If the resistance increases sharply by 38%, it is easy to be misjudged as a hard interlayer. However, in the actual process, the sudden change in resistance when the silty soil interface is converted to the slowly changing sub-clay interface is only 22%. In this case, it is easy to miss the judgment of interface changes, resulting in ineffective vibration and pressure adjustment or stress concentration in the pile body. It should be noted that the above numerical examples are only for the convenience of understanding, and this application does not limit them.

[0042] To address all the aforementioned issues, this application calculates the instantaneous friction damping ratio at continuous moments to accurately determine the soil structure layer reached by the formwork. This not only avoids the need for prior geological surveys during the traditional formwork sinking process, but also accurately identifies the layered interface through the calculated instantaneous friction damping ratio at continuous moments. This enables the real-time generation of vibration force and pressure compensation values, reducing labor costs and improving construction efficiency.

[0043] In one embodiment that can be implemented in this application, such as Figure 4As shown, the template parameters include: the outer diameter of the template, the instantaneous contact length of the template, the density of the template, the lateral area of ​​the template, and the wall thickness of the template; the geological parameters include: Poisson's ratio and the compressibility modulus of the interface soil. The specific process of generating continuous equivalent stiffness data of the template and foundation soil and equivalent mass data of template vibration based on continuously acquired template parameters and geological parameters includes: S401, Based on the outer diameter of the template and the instantaneous contact length of the template, generate the contact area between the template and the foundation soil; S402, Based on the contact area between the template and the foundation soil, Poisson's ratio, and the compression modulus of the interface soil, generate the equivalent stiffness data of the template and the foundation soil. S403, Based on the density of the template, the instantaneous contact length of the template, and the lateral area of ​​the template, generate template vibration equivalent mass data.

[0044] In this embodiment, the template needs to be equipped with multiple sensors for corresponding measurements. For example, since the template parameters include: the template's outer diameter, instantaneous contact length, density, lateral area, and wall thickness, and the geological parameters include: Poisson's ratio and interface soil compression modulus, the sensors related to the template parameters include, but are not limited to: laser rangefinders and distributed fiber optic sensors. Figure 2 As shown, multiple sets of laser ranging sensors are evenly arranged along the circumference of the pile. Each set contains two opposing sensors for directly measuring the outer diameter of the template. The fiber optic sensor determines the contact area between the template and the soil by strain distribution and calculates the instantaneous contact length.

[0045] Furthermore, given the relatively large diameter but thin wall of the formwork, insufficient concrete pouring or excessively fast pipe extraction during construction can easily lead to compromised pile wall thickness. Therefore, the uniformity of wall thickness directly affects the compressive bearing capacity of the formwork. Combining excavation and inspection work with the formwork, wall thickness data can be obtained. This application utilizes a borehole measurement method to measure the wall thickness of the formwork. Specifically, after excavation, holes are drilled at predetermined distances from the pile top down on the pile body using an impact drill, and the wall thickness of the formwork at the drilled locations is measured to determine the wall thickness and uniformity. The geological parameter-related sensors used in this application include, but are not limited to, triaxial earth pressure cells, displacement sensors, rigid bearing plate load sensors, and pore water pressure sensors. The triaxial earth pressure cell is correspondingly set with the fiber optic sensor to measure the radial, circumferential, and axial pressure of the template. The displacement sensor is pre-embedded in the template and the foundation soil to measure the deformation of the soil in the vertical and horizontal directions. The Poisson's ratio of the soil is calculated by combining the radial and circumferential stress ratio measured by the triaxial earth pressure cell with the transverse and longitudinal strain ratio measured by the displacement sensor, according to the definition of Poisson's ratio. A small rigid bearing plate is installed at the contact interface between the template and the soil to connect the load sensor. The load sensor measures the pressure on the bearing plate as σ, and the displacement sensor measures the soil compression ε. The compression modulus of the interface soil is calculated according to the compression modulus formula. Through the arrangement of the above sensors, real-time and continuous acquisition of template parameters and geological parameters can be achieved, providing basic data for the calculation of the template's equivalent stiffness and damping ratio. It should be noted that the above sensing and calculation process is existing technology and can be implemented using general calculation techniques. This application does not limit this. It can be further explained that the other sensors are set on the front or periphery of the template based on requirements. Figure 2 Not shown in the image.

[0046] This application provides a vibration force-pressure value compensation method for a formwork lowering control system. Based on continuously collected dynamic parameters, geological and static parameters of the formwork during the lowering process, the equivalent stiffness and vibration equivalent mass of the formwork and foundation soil are obtained. Then, the instantaneous friction damping ratio is obtained using the equivalent stiffness and vibration equivalent mass of the formwork and foundation soil, thereby converting the calculation of non-structural mechanical parameters in the original lowering process into the calculation of structural mechanical parameters. Then, based on the equivalent structural mechanical parameters, the impact of frictional hindrance caused by soil layer differences and layer characteristics during the lowering process is quantified, and the vibration force-pressure value of the formwork is compensated based on this impact. Thus, there is no need to conduct geological surveys in advance during the formwork lowering process. The layer interface is accurately identified by the difference in instantaneous friction damping ratio at continuous moments, thereby enabling real-time compensation of vibration force and pressure. This prevents the formwork from accidentally touching impurities during the lowering process, which leads to misjudgment and continuous adjustments, resulting in low construction efficiency and reduced labor costs.

[0047] Currently, the elastic foundation beam method is commonly used for formwork lowering, treating the beam as a load-bearing component on an elastic foundation and performing static solutions based on the Winkler assumption (the foundation reaction force is proportional to the displacement). This application equates the non-structural mechanical parameters throughout the lowering process to structural mechanical parameters. By combining continuously collected dynamic parameters with the static parameters of the formwork and geology, equivalent stiffness and mass are formed. Compared to the method of equating the load-bearing component to an elastic foundation and then performing equivalence based on the relationship between force and displacement, the instantaneous friction damping ratio finally obtained in this application can be iteratively optimized using dynamic data such as vibration acceleration and vibration force. It can be adjusted in real time according to the vibration changes and soil plastic deformation during construction. Furthermore, compared to the elastic foundation beam method, this application not only considers the elastic deformation of the soil but also the frictional resistance caused by soil particles during the lowering process, thus making it more accurate.

[0048] The details of this application process are described in detail below.

[0049] In this application, the formula for calculating the contact area between the template and the foundation soil is: Where D is the outer diameter of the template. The instantaneous contact length is the first tenth of the template's length after it enters the soil; this application will not elaborate on this.

[0050] The formula for calculating the compression modulus of the interface soil is: ε, where σ is the pressure on the bearing plate measured by the load sensor, and ε is the soil compression measured by the matching displacement sensor.

[0051] This application also calculates the Poisson's ratio v of the soil by combining the radial and circumferential stress ratio measured by the earth pressure cell with the transverse and longitudinal strain ratio measured by the displacement sensor, according to the definition of Poisson's ratio (μ = transverse strain / longitudinal strain).

[0052] In some embodiments, the formula for calculating the equivalent stiffness of this application is as follows: .

[0053] The formula for calculating the equivalent mass in this application is: ,in, Here, t represents the density of the template steel, t represents the wall thickness of the template, and t represents the lateral area of ​​the annular template. The calculation formula is: .

[0054] This step in the application transforms the concepts of equivalent stiffness and equivalent mass into a measurable and dynamically updated combination of physical parameters. This not only ensures theoretical rigor and adapts to the complex and ever-changing actual working conditions at construction sites, but is also particularly suitable for environments such as coastal soft soil where the interaction between the formwork and the foundation soil is strong and volatile. At the same time, it provides reliable basic data for subsequent damping ratio calculation and compensation control.

[0055] In one embodiment that can be implemented in this application, such as Figure 5 As shown, generating a continuous instantaneous friction damping ratio based on the continuous equivalent stiffness data of the template and the foundation soil and the equivalent mass data of template vibration includes: S501, Based on the ratio of the equivalent stiffness data of the continuous template and the foundation soil to the equivalent mass data of template vibration, a continuous natural angular frequency is generated. S502, based on the continuous natural angular frequency and the obtained real-time template axial vibration displacement amplitude, a continuous instantaneous friction damping ratio is generated.

[0056] The formula for calculating the natural angular frequency described in this application is as follows: The formula for calculating the instantaneous friction damping ratio is: Where m is the equivalent mass, A is the acceleration amplitude, and u is the vibration displacement amplitude. The acceleration amplitude can be calculated from the vibration displacement amplitude and the natural angular frequency, and the calculation formula is: .

[0057] The equivalent stiffness and equivalent mass of the template and the foundation soil in this application are continuously acquired dynamic data. The natural angular frequency generated by S301 also changes continuously. Combined with the real-time acquired axial vibration displacement amplitude of the template, which is directly measured by integrating the accelerometer or laser displacement meter, S302 can synchronously generate a continuous instantaneous friction damping ratio. The dynamic nature of this step in this application is particularly important for coastal soft soil environments. The thixotropy of soft soil and changes in pore water pressure can cause abrupt changes in the friction damping between the template and the foundation soil in a short period of time. Continuous damping ratio data can accurately capture the instantaneous changes between the template and the foundation soil, providing a high-time-resolution basis for subsequent damping ratio difference judgment and compensation control.

[0058] In one embodiment that can be implemented in this application, after generating the continuous instantaneous friction damping ratio, the method further includes: Determine whether the instantaneous friction damping ratio is less than 0. If so, calculate the absolute value of the instantaneous friction damping ratio.

[0059] The instantaneous friction damping ratio is a core input parameter for subsequent critical steps. If a negative value is retained, it will directly lead to disorder in the subsequent calculation logic. If the negative damping ratio is directly involved in the calculation of the damping ratio difference, it will incorrectly amplify the decrease in damping ratio and trigger overcompensation. If the negative damping ratio is substituted into the vibration force compensation value formula, the compensation value will be negative. In physical terms, this means applying vibration force in the opposite direction, which is completely contrary to the compensation goal of enhancing the stability of the template and may even cause the template vibration to intensify.

[0060] This step in this application converts abnormal negative data into reasonable non-negative input by taking the absolute value of the instantaneous friction damping ratio, ensuring that the formula logic for subsequent damping ratio difference calculation and compensation value generation is always positive and valid, avoiding "misoperation" of the compensation system due to data errors, and ensuring the stability of the calculation process.

[0061] In one embodiment of this application, generating the instantaneous friction damping ratio difference based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment includes: The instantaneous friction damping ratio difference is generated by subtracting the instantaneous friction damping ratio of the previous moment from the instantaneous friction damping ratio of the current moment.

[0062] This application quantifies the degree of energy dissipation abrupt change by calculating the difference in instantaneous friction damping ratio between the current moment and the previous moment. The calculation formula is as follows: ,in, Let be the instantaneous friction damping ratio at the current moment. The instantaneous friction damping ratio is the value of the previous moment.

[0063] This step in the application avoids data lag caused by complex calculations. Especially in abnormal working conditions of the formwork and foundation soil, data lag can lead to missing the best compensation opportunity. The simplified calculation in this application ensures that the instantaneous friction damping ratio difference is generated in real time and anomalies are judged in real time, thereby supporting the timeliness of subsequent compensation control.

[0064] In one embodiment that can be implemented in this application, such as Figure 6 As shown, one embodiment of this application specifically includes: S601, when the instantaneous friction damping ratio difference is greater than a preset threshold, calculate the vibration force compensation value and the pressure compensation value; S602, compensate the current vibration force value and pressure value according to the vibration force compensation value and the pressure compensation value.

[0065] It should be noted that the threshold is essentially the maximum damping fluctuation amplitude acceptable by this method. The threshold is based on the difference between the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment. It can be directly calibrated through on-site normal operating condition testing. For example, during the stable operation phase of the pile foundation, 100-200 sets of damping ratio data can be continuously collected, the maximum value of the difference between adjacent moments can be calculated and recorded, and then the safety factor can be added to determine the threshold without relying on theoretical model derivation.

[0066] This step in the application can both avoid normal fluctuations triggering false compensation and ensure that real anomalies are not missed. Therefore, the preset threshold in this application has strong physical significance and engineering applicability.

[0067] In one embodiment of this application, the preset threshold is a dynamically adjusted threshold, and the method for generating the dynamically adjusted threshold includes: Collect all instantaneous friction damping ratio differences within a preset time interval, and calculate the mean and standard deviation of all instantaneous friction damping ratio differences; The dynamic adjustment threshold for the current time period is generated based on the preset depth dynamic safety factor and the mean and standard deviation of the instantaneous friction damping ratio difference.

[0068] It should be noted that the preset depth dynamic safety factor is adjusted according to the template's lowering depth. The deeper the lowering depth, the larger the depth dynamic safety factor. The depth dynamic safety factor is k.

[0069] The dynamic adjustment threshold g is calculated as follows: g = |μΔζ| + k*σΔζ, where μΔζ is the mean of all instantaneous friction damping ratio differences within the preset time interval, and σΔζ is the standard deviation of all instantaneous friction damping ratio differences within the preset time interval.

[0070] In this embodiment, the vibration force compensation value is calculated by combining the obtained vibration force compensation coefficient, vibration force function proportionality coefficient, instantaneous friction damping ratio at the previous moment, and damping ratio difference. It should be noted that these coefficients are determined based on a large amount of construction test and mechanical simulation data, and can reflect the quantitative relationship between vibration force compensation and various influencing factors.

[0071] For example, the vibration compensation coefficient will vary depending on the type of formwork and the performance of the vibration equipment, while the vibration function proportionality coefficient will be adjusted in conjunction with the frequency characteristics of the vibration force to ensure that the compensation value can accurately match the adjustment requirements of the vibration force. This application is not limited to this; in addition to the factors mentioned above, the vibration mode of the formwork (such as longitudinal vibration and lateral vibration) and the damping characteristics of the soil layer can also be considered when calculating the vibration compensation value to further enrich the calculation dimensions and improve the accuracy of the compensation value.

[0072] When calculating the pressure compensation value, in addition to considering the pressure compensation coefficient, pressure function proportionality coefficient, instantaneous friction damping ratio, and damping ratio difference at the previous moment, the contact area between the formwork and the foundation soil can also be taken into account. It should be noted that the size of the contact area directly affects the effect of the pressure; the same pressure value will have different pushing effects on the lowering of the formwork under different contact areas. Therefore, the contact area is one of the influencing factors of pressure compensation.

[0073] It should be noted that the vibration compensation coefficient and pressure compensation coefficient are not fixed, but are dynamically adjusted according to the actual situation during construction. In this embodiment, the system continuously optimizes the values ​​of these coefficients based on the feedback of the compensation effect, ensuring that the compensation value always adapts to changes in working conditions. For example, if the vibration compensation value is found to be too large after multiple compensations, causing excessive vibration of the formwork, the system will automatically reduce the vibration compensation coefficient; if the compensation value is too small and cannot effectively cope with changes in working conditions, the coefficient will be increased. This application is not limited to this; the adjustment of the coefficients can also adopt an adaptive algorithm, combining accumulated data during the construction process to automatically learn the optimal coefficient values ​​under different working conditions, thereby achieving continuous improvement in the compensation effect.

[0074] Based on the above analysis of this application, in one embodiment that can be implemented in this application, such as Figure 7 As shown, the calculation of vibration force compensation value and pressure compensation value includes: S701, the vibration force compensation value is generated based on the obtained vibration force compensation coefficient, vibration force function proportionality coefficient, instantaneous friction damping ratio at the previous moment, and instantaneous friction damping ratio difference. S702, the pressure compensation value is generated based on the obtained pressure compensation coefficient, pressure function proportionality coefficient, instantaneous friction damping ratio at the previous moment, contact area between the template and the foundation soil, and the difference in instantaneous friction damping ratio.

[0075] The formula for generating the vibration compensation value in this application is as follows: ,in, This is the vibration force compensation coefficient. The formula for generating pressure compensation values ​​is: where is the proportionality coefficient of the vibration force function. ,in, This is the pressure compensation coefficient. This is the proportionality coefficient of the pressure function. Let be the annular cross-sectional area of ​​the annular template, and e be the natural base.

[0076] In this embodiment, after the initial compensation is completed based on the vibration force compensation value and the pressure compensation value, a new difference can be calculated based on multiple instantaneous friction damping ratio data after compensation. It should be noted that this step verifies the effect of the initial compensation, determines whether further adjustments are possible, and ensures that the template remains in a stable lowering state. For example, the system collects the instantaneous friction damping ratio at multiple consecutive moments after the initial compensation, calculates the difference between adjacent moments, and judges the compensation effect by the changing trend of multiple differences, avoiding misjudgments due to abnormal data at a single moment. This application is not limited to this; in addition to calculating the difference between adjacent moments, it can also calculate the mean, variance, and other statistical quantities of the damping ratio after compensation to comprehensively evaluate the stability of the working condition after compensation, providing a more comprehensive basis for secondary compensation decisions.

[0077] In one embodiment achievable under this application, after compensating the current vibration force value and pressure value according to the vibration force compensation value and the pressure compensation value, the method further includes: Calculate the difference in instantaneous friction damping ratio after compensation based on multiple instantaneous friction damping ratio data after compensation; When the instantaneous friction damping ratio difference after compensation is greater than the preset compensation threshold, the vibration force value and pressure value are compensated for a second time according to the second compensation coefficient, and a second vibration compensation value and a second pressure compensation value are generated. Otherwise, maintain the current vibration force and pressure values.

[0078] It should be noted that if the instantaneous friction damping ratio difference after compensation is greater than the preset compensation threshold, a secondary compensation coefficient is calculated. The secondary compensation coefficient is determined based on the ratio of the difference between the instantaneous friction damping ratio difference after compensation and the preset compensation threshold. The larger the difference, the larger the coefficient.

[0079] Secondary vibration force compensation value = vibration force compensation value × secondary compensation coefficient, secondary pressure compensation value = pressure compensation value × secondary compensation coefficient. Based on the generated secondary vibration force compensation value and secondary pressure compensation value, the vibration force and pressure values ​​are adjusted for the second time until the difference between the instantaneous friction damping ratio after compensation is less than or equal to the preset threshold.

[0080] Secondly, this application proposes a vibration force-pressure control system for a template lowering control system, such as... Figure 8 As shown, it includes a multi-dimensional sensor and an industrial main controller. The multi-dimensional sensor continuously collects template parameters and geological parameters, and the industrial main controller includes: The first calculation module 801 is used to generate continuous equivalent stiffness data of the template and foundation soil and equivalent mass data of template vibration based on continuously acquired template parameters and geological parameters. The second calculation module 802 is used to generate a continuous instantaneous friction damping ratio based on the continuous equivalent stiffness data of the template and the foundation soil and the equivalent mass data of template vibration. The continuous instantaneous friction damping ratio includes: the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment. The third calculation module 803 is used to generate the instantaneous friction damping ratio difference based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment. The compensation module 804 is used to determine whether the instantaneous friction damping ratio difference is greater than a preset threshold. If so, it compensates for the current vibration force value and pressure value.

[0081] It is understood that the vibration force-pressure system control system of the template lowering control system provided in this application calculates the instantaneous friction damping ratio at continuous moments through various calculation modules to accurately determine the soil structure layer reached by the template. This system not only gets rid of the constraints of the traditional PCC pile method that requires advance geological survey, but also accurately identifies the layer interface by calculating the instantaneous friction damping ratio at continuous moments. It can generate vibration force and pressure compensation values ​​in real time, reducing labor costs and improving construction efficiency.

[0082] In this embodiment, the system consists of multi-dimensional sensors and an industrial main controller, which work together to achieve accurate and coordinated control of vibration and pressure. It should be noted that the installation positions of the multi-dimensional sensors are not fixed and can be flexibly arranged according to the structural characteristics of the template and the complexity of the construction environment. For example, they can be evenly distributed along the circumference of the template or strategically placed at key stress points. Their function is to continuously and stably collect template parameters and geological parameters, ensuring the real-time performance and accuracy of data transmission.

[0083] In this embodiment, the first calculation module of the industrial main controller undertakes the crucial task of converting raw parameters into core mechanical data. It should be noted that this module's parameter processing is not a single-dimensional calculation, but rather iterates in real time in conjunction with dynamic changes during construction to ensure that the generated equivalent stiffness data of the formwork and foundation soil, and the equivalent mass data of formwork vibration, accurately reflect the current working conditions. This application is not limited to this; the first calculation module can also add functions such as parameter filtering and abnormal data removal according to actual construction needs to further improve data reliability.

[0084] It should be noted that the preset threshold is not fixed, but will be dynamically adapted according to the depth of construction, the type of template, and the general characteristics of the geological environment.

[0085] In one embodiment that can be implemented in this application, the first computing module includes: The template parameters include: the outer diameter of the template, the instantaneous contact length of the template, the density of the template, the lateral area of ​​the template, and the wall thickness of the template; the geological parameters include: Poisson's ratio and the compressibility modulus of the interface soil. The first sub-calculation module is used to generate the contact area between the template and the foundation soil based on the outer diameter of the template and the instantaneous contact length of the template. The second sub-calculation module is used to generate equivalent stiffness data of the template and the foundation soil based on the contact area between the template and the foundation soil, Poisson's ratio, and the compression modulus of the interface soil. The third sub-calculation module is used to generate template vibration equivalent mass data based on the template density, the instantaneous contact length of the template, and the lateral area of ​​the template.

[0086] The first calculation module transforms the concepts of equivalent stiffness and equivalent mass into a combination of measurable and dynamically updated physical parameters. This not only ensures theoretical rigor and adapts to the complex and ever-changing actual working conditions at construction sites, but is also particularly suitable for environments such as coastal soft soil where the interaction between the formwork and the foundation soil is strong and volatile. Furthermore, it provides reliable basic data for the subsequent calculations of the second, third, and compensation modules.

[0087] It should be noted that the dynamic parameters in this application embodiment cover multiple dimensions such as vibration state, displacement change, and stress during the template lowering process, while the preset template parameters and geological parameters are basic data obtained before construction based on template design documents and preliminary on-site surveys.

[0088] In one embodiment that can be implemented in this application, the second computing module includes: The fourth sub-calculation module is used to generate continuous natural angular frequencies based on the ratio of the continuous equivalent stiffness data of the template and the foundation soil to the equivalent mass data of template vibration. The fifth sub-calculation module is used to generate a continuous instantaneous friction damping ratio based on the continuous natural angular frequency and the obtained real-time template axial vibration displacement amplitude.

[0089] Geological parameters include Poisson's ratio and the compressibility modulus of the interface soil. It should be noted that these parameters are not obtained through precise prior geological surveys, but rather calculated using real-time soil mechanical response data collected by multi-dimensional sensors during the template lowering process. In this embodiment, the calculation of Poisson's ratio incorporates both the lateral and longitudinal strains of the soil, while the compressibility modulus of the interface soil is derived based on the soil's stress and deformation, ensuring that the parameters accurately reflect the characteristics of the currently contacting soil layer. For example, when the template moves from a soft soil layer to a hard soil layer, the compressibility modulus of the interface soil increases significantly, and the Poisson's ratio changes accordingly. The sensors capture these changes in real time and update the parameters. This application is not limited to this; geological parameters can also be added according to actual construction needs, such as the soil's internal friction angle and cohesion, to further improve the accuracy of the equivalent stiffness calculation.

[0090] In one embodiment that can be implemented in this application, the fifth sub-computing module further includes: The judgment module is used to determine whether the instantaneous friction damping ratio is less than 0. If so, the absolute value of the instantaneous friction damping ratio is calculated.

[0091] In one embodiment that can be implemented in this application, the third computing module includes: The sixth sub-calculation module is used to subtract the instantaneous friction damping ratio of the previous moment from the instantaneous friction damping ratio of the current moment to generate the instantaneous friction damping ratio difference.

[0092] The simplified calculation of the sixth sub-calculation module ensures that the instantaneous friction damping ratio difference is generated in real time and anomalies are judged in real time, thereby supporting the immediacy of subsequent compensation control.

[0093] In one embodiment that can be implemented in this application, the compensation module includes: The first sub-compensation module is used to calculate the vibration force compensation value and the pressure compensation value when the instantaneous friction damping ratio difference is greater than a preset threshold. The second sub-compensation module is used to compensate the current vibration force value and pressure value based on the vibration force compensation value and the pressure compensation value.

[0094] In this embodiment, the difference is generated by subtracting the instantaneous friction damping ratio of the previous moment from the instantaneous friction damping ratio of the current moment. When the difference is positive, it indicates that the friction damping ratio of the current moment is greater than that of the previous moment, which means that the frictional resistance effect on the template is enhanced, possibly because it has entered a harder soil layer or encountered impurities. When the difference is negative, it indicates that the frictional resistance effect is weakened, possibly because it has entered a relatively soft soil layer.

[0095] It should be noted that the calculation process of the damping ratio difference strictly follows the continuity of the time series to ensure the accurate correspondence between the current moment and the previous moment, avoiding calculation errors caused by time synchronization issues. In this embodiment, the system accurately synchronizes the timestamps of the sensor-collected data to ensure that each instantaneous friction damping ratio has a clear time marker, thereby guaranteeing the accuracy of the difference calculation. For example, even if there is a brief equipment lag or data transmission delay during construction, the system will use timestamp calibration to ensure that the time interval between the previous moment and the current moment is stable, avoiding abnormalities in the difference calculation. This application is not limited to this; the calculation of the damping ratio difference can also introduce a weighted calculation method, assigning higher weight to the damping ratio of recent moments, highlighting the impact of recent operating condition changes on compensation control, and improving the sensitivity of control.

[0096] The compensation module, based on multi-parameter coupling, achieves accurate, dynamic, and engineering-oriented compensation values. It ensures that the compensation measures directly address the abnormal interaction between the template and the foundation soil through physical correlation.

[0097] In one embodiment that can be implemented in this application, the first sub-compensation module includes: The third sub-compensation module is used to generate the vibration force compensation value based on the obtained vibration force compensation coefficient, vibration force function proportional coefficient, instantaneous friction damping ratio value at the previous moment, and instantaneous friction damping ratio difference. The fourth sub-compensation module is used to generate the pressure compensation value based on the obtained pressure compensation coefficient, pressure function proportional coefficient, instantaneous friction damping ratio of the previous moment, contact area between the template and the foundation soil, and instantaneous friction damping ratio difference.

[0098] The first sub-compensation module adapts to complex and ever-changing engineering environments through dynamic adjustment and coefficient-based design. It is especially suitable for scenarios with high requirements for the stability of formwork and foundation soil and complex working conditions, such as coastal soft soil areas, providing a reliable active control means for the safe operation of formwork and foundation soil.

[0099] In this embodiment, when compensating for vibration and pressure based on preset compensation rules, the compensation value is first calculated based on the acquired vibration and pressure parameters. It should be noted that the vibration and pressure parameters in this embodiment are real-time data collected by the system from the current equipment output, including multiple dimensions such as vibration amplitude, frequency, and pressure magnitude. For example, when calculating the compensation value, multiple factors are comprehensively considered, such as the current damping ratio difference, the lowering state of the template, and the equipment's operating limits, to ensure that the compensation value effectively addresses changes in working conditions without exceeding the equipment's safe operating range. This application is not limited to this; the model for calculating the compensation value can be continuously optimized based on accumulated data during construction, and the accuracy of the compensation value can be continuously improved through machine learning and other methods to achieve adaptive compensation control.

[0100] The system compensates for the current value based on the calculated vibration force and pressure compensation values. It's important to note that the compensation process is real-time and dynamic, not a one-time event, but continuously adjusted according to changes in the working conditions after compensation. In this embodiment, the system immediately collects new vibration force and pressure data, as well as parameters such as the vibration state and displacement changes of the template, after compensation. It then recalculates the instantaneous friction damping ratio and difference to determine if the compensation effect meets expectations. For example, if the damping ratio difference after compensation is still greater than a preset threshold, it indicates that the current compensation value is insufficient, and the system will recalculate a new compensation value for a secondary adjustment. If the damping ratio difference after compensation is within a reasonable range, the current vibration force and pressure values ​​are maintained. This application is not limited to this; the compensation execution method can also adopt a graded compensation strategy, categorizing compensation into mild, moderate, and severe levels based on the magnitude of the damping ratio difference. Different levels correspond to different compensation intensities and adjustment speeds, further enhancing the flexibility and effectiveness of the compensation.

[0101] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A vibration force-pressure coordinated control system for a template lowering control system, characterized in that, It includes a multi-dimensional sensor and an industrial main controller. The multi-dimensional sensor continuously acquires template parameters and geological parameters. The industrial main controller includes: The first calculation module is used to generate continuous equivalent stiffness data of the template and foundation soil and equivalent mass data of template vibration based on continuously acquired template parameters and geological parameters. The second calculation module is used to generate a continuous instantaneous friction damping ratio based on the continuous equivalent stiffness data of the template and the foundation soil and the equivalent mass data of template vibration. The continuous instantaneous friction damping ratio includes: the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment. The third calculation module is used to generate the instantaneous friction damping ratio difference based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment. The compensation module is used to determine whether the instantaneous friction damping ratio difference is greater than a preset threshold. If so, it compensates for the current vibration force value and pressure value.

2. A vibration force-pressure coordinated control method for a template lowering control system, characterized in that, The method includes: The control system continuously collects dynamic parameters, and based on preset template parameters and geological parameters, obtains the equivalent stiffness and vibration equivalent mass of the template and foundation soil. The instantaneous friction damping ratio at the current moment is generated based on the equivalent stiffness and vibration equivalent mass of the template and the foundation soil. Based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment, an instantaneous friction damping ratio difference is generated. It is then determined whether the instantaneous friction damping ratio difference is greater than a preset threshold. If so, the vibration force and pressure applied to the control system are compensated based on a preset compensation rule.

3. The vibration force-pressure coordinated control method for a template lowering control system as described in claim 2, characterized in that, The template parameters include: the outer diameter of the template, the instantaneous contact length of the template, the density of the template, the lateral area of ​​the template, and the wall thickness of the template; the geological parameters include: Poisson's ratio and the compressibility modulus of the interface soil. The process of obtaining the equivalent stiffness and vibration equivalent mass of the template and foundation soil based on preset template parameters and geological parameters includes: The contact area between the template and the foundation soil is generated based on the outer diameter of the template and the instantaneous contact length of the template. Based on the contact area between the template and the foundation soil, Poisson's ratio, and the compression modulus of the interface soil, the equivalent stiffness data of the template and the foundation soil are generated. Based on the density of the template, the instantaneous contact length of the template, and the lateral area of ​​the template, the equivalent mass data of template vibration is generated.

4. The vibration force-pressure coordinated control method for a template lowering control system as described in claim 2, characterized in that, The generation of the instantaneous friction damping ratio at the current moment based on the equivalent stiffness and vibration equivalent mass of the template and the foundation soil includes: Based on the ratio of the equivalent stiffness data of the template and the foundation soil to the equivalent mass data of template vibration, a continuous natural angular frequency is generated. Based on the continuous natural angular frequency and the obtained real-time template axial vibration displacement amplitude, a continuous instantaneous friction damping ratio is generated.

5. The vibration force-pressure coordinated control method for a template lowering control system as described in claim 4, characterized in that, Following the generation of the continuous instantaneous friction damping ratio, the following is also included: Determine whether the instantaneous friction damping ratio is less than 0. If so, calculate the absolute value of the instantaneous friction damping ratio.

6. The vibration force-pressure coordinated control method for a template lowering control system as described in claim 2, characterized in that, The step of generating the instantaneous friction damping ratio difference based on the instantaneous friction damping ratio at the current moment and the instantaneous friction damping ratio at the previous moment includes: The instantaneous friction damping ratio difference is generated by subtracting the instantaneous friction damping ratio of the previous moment from the instantaneous friction damping ratio of the current moment.

7. The vibration force-pressure coordinated control method for a template lowering control system as described in claim 2, characterized in that, The compensation for vibration and pressure applied to the control system based on preset compensation rules includes: Based on the obtained vibration force and pressure parameters, calculate the vibration force compensation value and pressure compensation value; The current vibration force value and pressure value are compensated based on the vibration force compensation value and the pressure compensation value.

8. The vibration force-pressure coordinated control method for a template lowering control system as described in claim 2, characterized in that, The preset threshold is a dynamically adjusted threshold, and the method for generating the dynamically adjusted threshold includes: Collect all instantaneous friction damping ratio differences within a preset time interval, and calculate the mean and standard deviation of all instantaneous friction damping ratio differences; The dynamic adjustment threshold for the current time period is generated based on the preset depth dynamic safety factor and the mean and standard deviation of the instantaneous friction damping ratio difference.

9. The vibration force-pressure coordinated control method for a template lowering control system as described in claim 7, characterized in that, The calculation of vibration force compensation value and pressure compensation value includes: The vibration force compensation value is generated based on the obtained vibration force compensation coefficient, vibration force function proportionality coefficient, instantaneous friction damping ratio at the previous moment, and the difference in instantaneous friction damping ratio. The pressure compensation value is generated based on the obtained pressure compensation coefficient, pressure function proportionality coefficient, instantaneous friction damping ratio at the previous moment, contact area between the template and the foundation soil, and the difference in instantaneous friction damping ratio.

10. The vibration force-pressure coordinated control method for a template lowering control system as described in claim 9, characterized in that, After compensating the current vibration force value and pressure value based on the vibration force compensation value and the pressure compensation value, the following steps are also included: Calculate the difference in instantaneous friction damping ratio after compensation based on multiple instantaneous friction damping ratio data after compensation; When the instantaneous friction damping ratio difference after compensation is greater than the preset compensation threshold, the vibration force value and pressure value are compensated for a second time according to the secondary compensation coefficient. Otherwise, maintain the current vibration force and pressure values.

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