Road roller-roadbed compactness dynamic mutual feedback control method and related device

Abstract

The invention provides a road roller-roadbed compaction degree dynamic mutual feedback control method and a related device, and belongs to the technical field of intelligent roadbed compaction. The method comprises the following steps: obtaining vibration compaction energy required by compaction of filler in unit volume on the basis of engineering parameters of the vibratory roller in a forward direction and mechanical parameters of the vibratory roller; obtaining a soil body reaction force based on vibration compaction energy required for compaction of the filler in unit volume, engineering parameters of the vibratory roller in the advancing direction, the rigidity of the soil body and the damping of the soil body; estimating the compaction degree of the current roadbed based on the engineering parameters of the vibratory roller in the forward direction, the vibration compaction energy required for compaction of the filler in unit volume and the soil counterforce; and the target roadbed compaction degree is obtained, and the new mechanical parameters of the vibratory roller are obtained based on the target roadbed compaction degree and the current roadbed compaction degree, so that the dynamic mutual feedback control of the roller-roadbed compaction degree is realized. The problem that the accuracy of compaction degree mutual feedback control of the road roller and the roadbed is not high is solved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent roadbed compaction technology, specifically relating to a dynamic feedback control method and related device for road roller-roadbed compaction degree. Background Technology

[0002] In road construction, the quality of subgrade compaction directly determines the structural lifespan and safety. Traditional manual operation relies on experience, which limits the uniformity and efficiency of compaction. "Intelligent compaction" technology achieves the target compaction degree by monitoring the roller's operating status and soil response in real time and automatically adjusting excitation parameters using control algorithms.

[0003] Existing research mostly focuses on physical modeling or data analysis, lacking a comprehensive simulation platform that integrates vibration excitation, nonlinear soil response, compaction degree estimation, and feedback control. This makes it difficult to accurately reflect the dynamic feedback relationship between multiple working condition parameters and subgrade compaction degree during the compaction process, resulting in low accuracy in the feedback control of the roller and subgrade compaction degree. Furthermore, it is difficult to verify and optimize the closed-loop of intelligent compaction control algorithms, and seamless integration with real-time control hardware at the engineering site is impossible.

[0004] Therefore, it is necessary to construct a high-fidelity roller-soil feedback model that can be implemented in the Simulink environment to provide a general framework for algorithm verification and engineering control. Summary of the Invention

[0005] The purpose of this invention is to provide a dynamic feedback control method and related device for the compaction degree of a road roller and a roadbed, which solves the problem of low accuracy in the feedback control of the compaction degree of the road roller and the roadbed in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for dynamic feedback control of roller-subgrade compaction degree, comprising the following steps: Obtain the engineering parameters and mechanical parameters of the vibratory roller in the forward direction; Based on the engineering parameters and mechanical parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material is obtained. Based on the vibration compaction energy required to compact a unit volume of fill material, the engineering parameters of the vibratory roller in the forward direction, the stiffness of the soil, and the damping of the soil, the soil reaction force is obtained. Based on the engineering parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force, the current subgrade compaction degree is estimated. The target subgrade compaction degree is obtained, and based on the target subgrade compaction degree and the current subgrade compaction degree, new mechanical parameters of the vibratory roller are obtained, thereby realizing dynamic mutual feedback control between the roller and the subgrade compaction degree.

[0007] A further improvement of this invention is that the calculation formula for the vibration compaction energy required to compact the unit volume of filler is as follows:

[0008] in, This refers to the vibration compaction energy required to compact a unit volume of fill material. The vibration compaction overlap coefficient is the vibration wheel width direction. The vibration coefficient is... For nominal amplitude, The vibration frequency, The number of rolling passes, For the mass of the vibrating wheel, For excitation force, For driving speed, This refers to the width of the vibratory roller's vibratory wheel. The loose thickness of each layer for compaction.

[0009] A further improvement of this invention is that the formula for calculating the soil reaction force is:

[0010] in, For soil reaction force, For the stiffness of the soil, This refers to the vibration compaction energy required to compact a unit volume of fill material. This refers to the displacement of the vibratory roller in the forward direction. For soil damping, To perform a first derivative of the displacement of the vibratory roller in the forward direction.

[0011] A further improvement of the present invention is that the estimation of the current subgrade compaction degree based on the engineering parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force is specifically: the estimation of the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force.

[0012] A further improvement of the present invention is that, before estimating the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force, the acceleration of the vibratory roller in the forward direction is preprocessed. The preprocessing includes drifting, filtering, and framing the acceleration of the vibratory roller in the forward direction.

[0013] A further improvement of the present invention is that the estimation of the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force is specifically: the current subgrade compaction degree is estimated by using empirical formulas or machine learning models based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force.

[0014] A further improvement of the present invention is that the new mechanical parameters of the vibratory roller based on the target subgrade compaction degree and the current subgrade compaction degree are obtained, specifically: based on the target subgrade compaction degree and the current subgrade compaction degree, new nominal amplitude and vibration frequency are obtained.

[0015] Secondly, the present invention provides a dynamic feedback control system for roller-subgrade compaction degree, comprising: The data acquisition module is used to acquire the engineering parameters and mechanical parameters of the vibratory roller in the forward direction. The vibration compaction energy determination module is used to obtain the vibration compaction energy required to compact a unit volume of fill material based on the engineering parameters and mechanical parameters of the vibratory roller in the forward direction. The soil reaction force determination module is used to obtain the soil reaction force based on the vibration compaction energy required to compact a unit volume of fill material, the engineering parameters of the vibratory roller in the forward direction, the stiffness of the soil, and the damping of the soil. The current subgrade compaction estimation module is used to estimate the current subgrade compaction degree based on the engineering parameters of the vibratory roller in the forward direction, the vibratory compaction energy required to compact a unit volume of fill material, and the soil reaction force. The mutual feedback control module is used to obtain the target subgrade compaction degree and, based on the target subgrade compaction degree and the current subgrade compaction degree, obtain new mechanical parameters of the vibratory roller, thereby realizing dynamic mutual feedback control between the roller and the subgrade compaction degree.

[0016] Thirdly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described dynamic feedback control method for the compaction degree of the road roller-subgrade.

[0017] Fourthly, the present invention provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described dynamic feedback control method for the compaction degree of road roller-subgrade.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The dynamic feedback control method for roller-subgrade compaction proposed in this invention estimates the current subgrade compaction degree based on the engineering parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force. This demonstrates that the invention considers multiple factors in estimating the current subgrade compaction degree (engineering parameters of the vibratory roller in the forward direction, vibration compaction energy required to compact a unit volume of fill material, and soil reaction force), thereby improving the accuracy of subsequent dynamic feedback control of roller-subgrade compaction degree. Furthermore, based on the target subgrade compaction degree and the current subgrade compaction degree, new mechanical parameters of the vibratory roller are obtained, thus achieving dynamic feedback control of roller-subgrade compaction degree. This operation allows the obtained new mechanical parameters of the vibratory roller to better reflect the actual scenario, further improving the accuracy of dynamic feedback control of roller-subgrade compaction degree. Attached Figure Description

[0019] Figure 1 This is a flowchart of the dynamic feedback control method for roller-subgrade compaction degree of the present invention; Figure 2 This is a schematic diagram of the dynamic feedback control system for roller-subgrade compaction degree of the present invention; Figure 3 This is a flowchart of the dynamic feedback control method for roller-subgrade compaction degree in Embodiment 4 of the present invention; Figure 4 This is a flowchart of the dynamic closed-loop simulation system in Embodiment 4 of the present invention; Figure 5 This is a Simulink structural diagram of the excitation force generation subsystem in Embodiment 4 of the present invention; Figure 6 This is a schematic diagram of the Simulink structure of the nonlinear soil response subsystem in Embodiment 4 of the present invention; Figure 7 This is a Simulink structural diagram of the compaction degree estimation subsystem in Embodiment 4 of the present invention; Figure 8 This is a flowchart of the compaction degree estimation subsystem in Embodiment 4 of the present invention; Figure 9 This is a Simulink structural diagram of the mutual feedback control subsystem in Embodiment 4 of the present invention; Figure 10 This is a schematic diagram of the structure of the electronic device of the present invention. Detailed Implementation

[0020] To further understand the content of this invention, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0021] Example 1: The flowchart of the dynamic feedback control method for road roller-subgrade compaction degree of the present invention is as follows: Figure 1 As shown, the dynamic feedback control method for roller-subgrade compaction degree of the present invention includes the following steps: S1. Obtain the engineering parameters and mechanical parameters of the vibratory roller in the forward direction; S2. Based on the engineering parameters of the vibratory roller in the forward direction and the mechanical parameters of the vibratory roller, the vibration compaction energy required to compact a unit volume of fill material is obtained; S3. Based on the vibration compaction energy required to compact a unit volume of fill material, the engineering parameters of the vibratory roller in the forward direction, the stiffness of the soil, and the damping of the soil, the soil reaction force is obtained; S4. Estimate the current subgrade compaction degree based on the engineering parameters of the vibratory roller in the forward direction, the vibratory compaction energy required to compact a unit volume of fill material, and the soil reaction force; S5. Obtain the target subgrade compaction degree, and based on the target subgrade compaction degree and the current subgrade compaction degree, obtain the new mechanical parameters of the vibratory roller, thereby realizing dynamic mutual feedback control between the roller and the subgrade compaction degree.

[0022] Example 2: A schematic diagram of the dynamic feedback control system for road roller-subgrade compaction degree of the present invention is shown below. Figure 2 As shown, the dynamic feedback control system for roller-subgrade compaction degree of the present invention includes: The data acquisition module is used to acquire the engineering parameters and mechanical parameters of the vibratory roller in the forward direction. The vibration compaction energy determination module is used to obtain the vibration compaction energy required to compact a unit volume of fill material based on the engineering parameters and mechanical parameters of the vibratory roller in the forward direction. The soil reaction force determination module is used to obtain the soil reaction force based on the vibration compaction energy required to compact a unit volume of fill material, the engineering parameters of the vibratory roller in the forward direction, the stiffness of the soil, and the damping of the soil. The current subgrade compaction estimation module is used to estimate the current subgrade compaction degree based on the engineering parameters of the vibratory roller in the forward direction, the vibratory compaction energy required to compact a unit volume of fill material, and the soil reaction force. The mutual feedback control module is used to obtain the target subgrade compaction degree and, based on the target subgrade compaction degree and the current subgrade compaction degree, obtain new mechanical parameters of the vibratory roller, thereby realizing dynamic mutual feedback control between the roller and the subgrade compaction degree.

[0023] Example 3: The flowchart of the dynamic feedback control method for road roller-subgrade compaction degree of the present invention is as follows: Figure 3 As shown, the dynamic feedback control method for roller-subgrade compaction degree of the present invention includes the following steps: S1. Obtain the engineering parameters and mechanical parameters of the vibratory roller in the forward direction.

[0024] S2. Based on the engineering parameters of the vibratory roller in the forward direction and the mechanical parameters of the vibratory roller, the vibration compaction energy required to compact a unit volume of fill material is obtained.

[0025] The formula for calculating the vibration compaction energy required per unit volume of fill material in this step is:

[0026] in, This refers to the vibration compaction energy required to compact a unit volume of fill material. The vibration compaction overlap coefficient is the vibration wheel width direction. The vibration coefficient is... For nominal amplitude, The vibration frequency, The number of rolling passes, For the mass of the vibrating wheel, For excitation force, For driving speed, This refers to the width of the vibratory roller's vibratory wheel. The loose thickness of each layer for compaction.

[0027] S3. Based on the vibration compaction energy required for compaction of a unit volume of fill material, the engineering parameters of the vibratory roller in the forward direction, the stiffness of the soil, and the damping of the soil, the soil reaction force is obtained.

[0028] The formula for calculating the soil reaction force in this step is:

[0029] in, For soil reaction force, For the stiffness of the soil, This refers to the vibration compaction energy required to compact a unit volume of fill material. This refers to the displacement of the vibratory roller in the forward direction. For soil damping, To perform a first derivative of the displacement of the vibratory roller in the forward direction.

[0030] S4. Estimate the current subgrade compaction degree based on the engineering parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force.

[0031] In this step, the current subgrade compaction degree is estimated based on the engineering parameters of the vibratory roller in the forward direction, the vibratory compaction energy required to compact a unit volume of fill material, and the soil reaction force. Specifically, the current subgrade compaction degree is estimated based on the acceleration of the vibratory roller in the forward direction, the vibratory compaction energy required to compact a unit volume of fill material, and the soil reaction force.

[0032] Before estimating the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force, the acceleration of the vibratory roller in the forward direction is preprocessed. The preprocessing includes drifting, filtering, and framing the acceleration of the vibratory roller in the forward direction.

[0033] This step estimates the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force. Specifically, it uses empirical formulas or machine learning models to estimate the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force.

[0034] S5. Obtain the target subgrade compaction degree, and based on the target subgrade compaction degree and the current subgrade compaction degree, obtain the new mechanical parameters of the vibratory roller, thereby realizing dynamic mutual feedback control between the roller and the subgrade compaction degree.

[0035] In this step, new mechanical parameters of the vibratory roller are obtained based on the target subgrade compaction degree and the current subgrade compaction degree. Specifically, new nominal amplitude and vibration frequency are obtained based on the target subgrade compaction degree and the current subgrade compaction degree.

[0036] Example 4: The flowchart of the dynamic feedback control method for road roller-subgrade compaction degree of the present invention is as follows: Figure 3 As shown, the method of the present invention will be described in detail below: This invention utilizes a dynamic closed-loop simulation system (hereinafter referred to as the simulation system) built in the Simulink environment to accurately reflect the dynamic feedback relationship between multiple working parameters of the road roller (such as speed, amplitude, number of compaction passes, and vibration time) and the compaction degree of the subgrade. By realizing a complete closed loop of energy input, soil response, and compaction degree feedback, the dynamic closed-loop simulation system can not only be used for the verification of intelligent compaction algorithms and the optimization of control strategies, but also has the capability to be deployed to real-time control hardware in engineering sites such as dSPACE or Speedgoat, achieving seamless integration between simulation and practical applications.

[0037] The simulation system adopts a modular design, consisting of four core subsystems (excitation force generation subsystem, nonlinear soil response subsystem, compaction degree estimation subsystem, and feedback control subsystem) forming a closed loop. The signal flow of the simulation system exhibits a clear feedback mechanism: the target compaction degree (also called the target subgrade compaction degree) is input to the feedback controller, which outputs a control signal to adjust the excitation force generation subsystem. The generated excitation force acts on the soil response subsystem, which analyzes the soil response and outputs a compaction degree estimate. This estimate is then fed back to the controller, forming a complete dynamic simulation closed loop. The flowchart of the dynamic closed-loop simulation system's operation is shown below. Figure 4 As shown.

[0038] A schematic diagram of the excitation force generation subsystem in Simulink is shown below. Figure 5 As shown, this subsystem consists of four main parts: the leftmost part is the excitation input signal, which serves as the energy source for the excitation force generation subsystem, outputting excitation energy or force signals that vary with time; the middle part is the parameter constant input (such as...). F 0、 W z (and standard wheel load), used to provide model calibration benchmarks and standardized parameters; the core part is the central core module, which is the calculation hub of the excitation force generation subsystem; the rightmost part is the compaction state output. The excitation force generation subsystem is based on the distance traveled by the vibratory roller in the forward direction. L (m), driving speed v (m / s), loose thickness of each layer of compacted surface h (m) and number of compaction passes n Engineering parameters and the width of the vibratory roller of different models of vibratory rollers B (m), Vibrating wheel mass W z (kg) and vibration coefficient K p Based on mechanical parameters and the basic principles of vibratory rollers in engineering machinery, the formula for calculating the vibration compaction energy required to compact a unit volume of fill material is as follows:

[0039] Figure 5 Each input module contains the input values ​​for the parameters in the formula, including the vibration compaction overlap coefficient in the width direction of the vibratory roller. Vibration action coefficient K p Nominal amplitude A0, vibration frequency f (Hz), number of compaction passes n vibratory wheel mass W z (kg), excitation force F 0, driving distance L (m), speedv (m / s), loose thickness of each layer of compacted surface h (m), loose paving coefficient K s .

[0040] A schematic diagram of the Simulink structure of the nonlinear soil response subsystem is shown below. Figure 6 As shown, in the simulation model, this subsystem acts as a "bridge" connecting the roller's excitation module with the changes in the roadbed's state. When the roller inputs energy (vibrational work) into the soil, the soil's stiffness... k and damping c It gradually changes as compaction increases, thus acting as a reaction force on the vibratory roller. The soil reaction model is as follows:

[0041] in, The nonlinear stiffness varies with compaction energy. For nonlinear damping that varies with compaction energy, both can be modeled based on experimental curves or empirical formulas. for t The displacement of the vibratory roller in the forward direction at all times. for t The displacement of the vibratory roller in the forward direction is differentiated once at any time.

[0042] For example, , The process of creating this module is as follows: Create two Look Tables in Simulink, and one output... k enter W v One output c enter W v Use the Product module to multiply the outputs of the two Look Tables by... and accomplish and The output signal is obtained as follows:

[0043] in, For soil reaction force, For the stiffness of the soil, This refers to the vibration compaction energy required to compact a unit volume of fill material. This refers to the displacement of the vibratory roller in the forward direction. For soil damping, To perform a first derivative of the displacement of the vibratory roller in the forward direction.

[0044] The Simulink structure diagram of the compaction degree estimation subsystem is shown below. Figure 7 As shown, this subsystem obtains the acceleration of the vibratory roller in the forward direction from the above two subsystems. Displacement of the vibratory roller in the forward direction x ( t Soil reaction force F s ( t ) and the vibration compaction energy required to compact a unit volume of fill material W v The acceleration of the vibratory roller in the forward direction is preprocessed using methods such as drift removal, filtering, and framing; spectral analysis is performed to obtain the amplitude and frequency components of the fundamental and harmonic waves, and time-domain features are extracted; the feature vectors are mapped to compaction indices using empirical formulas or machine learning models, and output to the soil module and controller. The compaction assessment module within this subsystem requires extensive field test data for training. Field test design requires data collection under different working conditions (different amplitudes, frequencies, and speeds, etc.) in different compaction sections, recording the initial acceleration and the vibration compaction energy per unit volume (…). W v The data includes location information, actual compaction degree, etc.; then, preprocessing is performed on the data such as time synchronization, filtering, and feature extraction; the model is trained using the dataset, and hyperparameters are adjusted through cross-validation; compaction degree evaluation indicators are determined, with the engineering acceptance target being RMSE < 5% or R 2 A value of >0.75 is used as a reference; finally, the model is exported and deployed in Simulink. The workflow diagram of the compaction degree estimation subsystem is as follows: Figure 8 As shown.

[0045] The following examples illustrate the empirical formula: The vibration compaction energy (W) required to compact a unit volume of fill material v The empirical formula for compaction, with as the independent variable, is as follows:

[0046] in, These are empirical coefficients obtained by fitting test data based on specific soil materials and roller models. It is the equivalent dynamic stiffness of the soil, expressed in N / m. P , Q and β These are the fitting coefficients of the empirical regression curve obtained through on-site calibration.

[0047] The Simulink schematic diagram of the mutual feedback control subsystem is shown below. Figure 9As shown, the function of this subsystem is to compare the "target subgrade compaction degree" with the "current subgrade compaction degree" in real time, and output new mechanical parameters (nominal amplitude and vibration frequency) of the vibratory roller to drive the front-end excitation force generation subsystem. Specifically, closed-loop control is achieved using a PID Controller Block. The input is the error between the target subgrade compaction degree and the current subgrade compaction degree, and the output is the control signal ctrl_signal, which is used to map to the amplitude or frequency of the excitation force. Moreover, this subsystem requires the use of the parameter tuning range limited by the Saturation Block, and it is recommended to use initial parameters ( f =5, v =1.8, A0=0.8, F After setting 0=60, PID Tuner is used for automatic parameter tuning.

[0048] The following is about Figure 3 Detailed explanation: The initial stiffness of the soil is obtained through field tests (such as plate load tests). k 0 and damping c 0, and determine the nonlinear response model of the soil ( and The parameters in the table are used to train the compaction estimation AI model obtained from the field-collected data. The model is then deployed to the compaction estimation subsystem of the simulation system, and the initial parameters of the PID controller are set in the feedback control subsystem.

[0049] In the Simulink simulation environment, the target compaction degree was set to 0.96, and the initial operating parameters of the road roller were set. v =1.8m / s, A0=0.8mm. f =30Hz.

[0050] Running the Simulink model, the simulation system enters a dynamic closed-loop operating state. The excitation force generation subsystem calculates the vibration compaction energy per unit volume based on the current parameters. W v ), and output vibration signal ( a ( t )and x ( t The nonlinear soil response subsystem is based on... W v Dynamically adjust the stiffness of the soil k Calculate the soil reaction force F s ( t This data is then fed back to the excitation force generation subsystem to simulate the real-world scenario where "the harder the material, the harder it is to compact" during the compaction process. Compaction Degree Estimation Subsystem Analysis a (t) and W vThe system outputs an estimated compaction degree (also called the current subgrade compaction degree) in real time. The feedback control subsystem compares the error between the target compaction degree and the estimated compaction degree in real time. When the estimated compaction degree is less than 0.96, the PID controller detects insufficient compaction and outputs a control signal to increase the nominal amplitude A0 or increase the vibration frequency. f To increase energy input and accelerate compaction, when the estimated compaction degree approaches 0.96, the PID controller detects that the compaction degree is close to the target value and outputs a control signal to reduce the nominal amplitude A0 or lower the vibration frequency. f This prevents over-compaction and keeps the degree of compaction stable near the target value.

[0051] Compared with the prior art, the method of the present invention has the following beneficial effects: 1. This invention realizes integrated modeling of road roller-soil-control system in the Simulink environment.

[0052] 2. This invention supports multi-parameter coupled simulation, which can quickly verify different working conditions and algorithms.

[0053] 3. This invention achieves a physically meaningful estimation of compaction degree by using the vibration compaction energy input required to compact a unit volume of filler.

[0054] 4. The mutual feedback control subsystem of this invention can be directly migrated to the field controller to realize intelligent compaction application.

[0055] Example 5: Please see Figure 10 As shown, the present invention also provides an electronic device 100 for a dynamic feedback control method of roller-subgrade compaction degree; the electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on the at least one processor 102, and at least one communication bus 104.

[0056] The memory 101 can be used to store the computer program 103. The processor 102 implements the steps of the dynamic feedback control method for road roller-subgrade compaction described in Embodiment 1 by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101. The memory 101 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 100 (such as audio data), etc. In addition, the memory 101 may include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0057] The at least one processor 102 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or any conventional processor. The processor 102 is the control center of the electronic device 100, connecting various parts of the electronic device 100 via various interfaces and lines.

[0058] The memory 101 in the electronic device 100 stores multiple instructions to implement a dynamic feedback control method for the compaction degree of the road roller and the roadbed. The processor 102 can execute the multiple instructions to achieve the following: Obtain the engineering parameters and mechanical parameters of the vibratory roller in the forward direction; Based on the engineering parameters and mechanical parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material is obtained. Based on the vibration compaction energy required to compact a unit volume of fill material, the engineering parameters of the vibratory roller in the forward direction, the stiffness of the soil, and the damping of the soil, the soil reaction force is obtained. Based on the engineering parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force, the current subgrade compaction degree is estimated. The target subgrade compaction degree is obtained, and based on the target subgrade compaction degree and the current subgrade compaction degree, new mechanical parameters of the vibratory roller are obtained, thereby realizing dynamic mutual feedback control between the roller and the subgrade compaction degree.

[0059] Example 6: If the modules / units integrated in the electronic device 100 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0060] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0061] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0062] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0063] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for dynamic feedback control of road roller-subgrade compaction degree, characterized in that, Includes the following steps: Obtain the engineering parameters and mechanical parameters of the vibratory roller in the forward direction; Based on the engineering parameters and mechanical parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material is obtained. Based on the vibration compaction energy required to compact a unit volume of fill material, the engineering parameters of the vibratory roller in the forward direction, the stiffness of the soil, and the damping of the soil, the soil reaction force is obtained. Based on the engineering parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force, the current subgrade compaction degree is estimated. The target subgrade compaction degree is obtained, and based on the target subgrade compaction degree and the current subgrade compaction degree, new mechanical parameters of the vibratory roller are obtained, thereby realizing dynamic mutual feedback control between the roller and the subgrade compaction degree.

2. The dynamic feedback control method for roller-subgrade compaction degree according to claim 1, characterized in that, The formula for calculating the vibration compaction energy required to compact a unit volume of fill is: in, This refers to the vibration compaction energy required to compact a unit volume of fill material. The vibration compaction overlap coefficient is the vibration wheel width direction. The vibration coefficient, For nominal amplitude, The vibration frequency, The number of rolling passes, For the mass of the vibrating wheel, For excitation force, For driving speed, This refers to the width of the vibratory roller's vibratory wheel. The loose thickness of each layer for compaction.

3. The dynamic feedback control method for roller-subgrade compaction degree according to claim 1, characterized in that, The formula for calculating the soil reaction force is: in, For soil reaction force, For the stiffness of the soil, This refers to the vibration compaction energy required to compact a unit volume of fill material. This refers to the displacement of the vibratory roller in the forward direction. For soil damping, To perform a first derivative of the displacement of the vibratory roller in the forward direction.

4. The dynamic feedback control method for roller-subgrade compaction degree according to claim 1, characterized in that, The method of estimating the current subgrade compaction degree based on the engineering parameters of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force is specifically: estimating the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force.

5. The dynamic feedback control method for roller-subgrade compaction degree according to claim 4, characterized in that, Before estimating the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force, the acceleration of the vibratory roller in the forward direction is preprocessed. The preprocessing includes drifting, filtering, and framing of the acceleration of the vibratory roller in the forward direction.

6. The dynamic feedback control method for roller-subgrade compaction degree according to claim 4, characterized in that, The method of estimating the current subgrade compaction degree based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force is as follows: the current subgrade compaction degree is estimated by using empirical formulas or machine learning models based on the acceleration of the vibratory roller in the forward direction, the vibration compaction energy required to compact a unit volume of fill material, and the soil reaction force.

7. The dynamic feedback control method for roller-subgrade compaction degree according to claim 1, characterized in that, The method of obtaining new mechanical parameters of the vibratory roller based on the target subgrade compaction degree and the current subgrade compaction degree specifically involves obtaining new nominal amplitude and vibration frequency based on the target subgrade compaction degree and the current subgrade compaction degree.

8. A dynamic feedback control system for roller-subgrade compaction, characterized in that, include: The data acquisition module is used to acquire the engineering parameters and mechanical parameters of the vibratory roller in the forward direction. The vibration compaction energy determination module is used to obtain the vibration compaction energy required to compact a unit volume of fill material based on the engineering parameters and mechanical parameters of the vibratory roller in the forward direction. The soil reaction force determination module is used to obtain the soil reaction force based on the vibration compaction energy required to compact a unit volume of fill material, the engineering parameters of the vibratory roller in the forward direction, the stiffness of the soil, and the damping of the soil. The current subgrade compaction estimation module is used to estimate the current subgrade compaction degree based on the engineering parameters of the vibratory roller in the forward direction, the vibratory compaction energy required to compact a unit volume of fill material, and the soil reaction force. The mutual feedback control module is used to obtain the target subgrade compaction degree and, based on the target subgrade compaction degree and the current subgrade compaction degree, obtain new mechanical parameters of the vibratory roller, thereby realizing dynamic mutual feedback control between the roller and the subgrade compaction degree.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the dynamic feedback control method for roller-subgrade compaction degree as described in any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the dynamic feedback control method for roller-subgrade compaction degree as described in any one of claims 1 to 7.

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