Open caisson segment sinking synchronous control system and method

Abstract

The invention relates to the technical field of open caisson construction, in particular to an open caisson segment sinking synchronous control system and method.The open caisson segment sinking synchronous control method comprises the following steps that in an automatic synchronous mode, the real-time stroke value of each thrust oil cylinder is obtained; according to the obtained real-time stroke values of all the thrust oil cylinders, the corresponding average stroke is obtained through calculation; respectively calculating the stroke deviation of each thrust oil cylinder by taking the average stroke as a synchronization reference; the propelling speed of the corresponding propelling oil cylinder is adjusted according to the stroke deviation of each propelling oil cylinder, so that the actual stroke of the propelling oil cylinder tends to the average stroke; and the steps are executed circularly until the actual stroke of the thrust cylinder reaches the set stroke or the thrust cylinder exits from the automatic synchronization mode. According to the method, the real-time average stroke serves as the dynamic reference, synchronous control over the extending strokes of the multiple thrust oil cylinders is achieved, all the thrust oil cylinders can tend to the average stroke, the synchronous precision is guaranteed, the situation that the strokes of all the oil cylinders are greatly different is avoided, and environmental disturbance is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of caisson construction technology, and specifically to a synchronous control system and method for sinking caisson segments. Background Technology

[0002] Caisson construction is widely used in municipal and tunnel engineering. Press-in caissons are actively lowered using jacks, representing an improvement over traditional self-weight sinking. However, existing press-in control systems typically employ simple on / off control or open-loop control, making it difficult to achieve precise synchronization of multiple jacking cylinders. When encountering uneven ground conditions or localized resistance changes, differences in the stroke of each cylinder can easily occur, leading to overall tilting of the caisson. This asynchrony and loss of posture control can cause uneven compression and shearing of the surrounding soil, exacerbating environmental disturbance. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a caisson segment sinking synchronous control system and method, which solves the problems of existing pressurized caisson control systems, such as difficulty in achieving precise synchronization, inability to adaptively adjust the cylinder stroke leading to easy discrepancies in cylinder formation causing caisson tilting, and increased environmental disturbance due to asynchrony and attitude loss.

[0004] The technical solution to achieve the above objectives is:

[0005] This invention provides a method for synchronous control of the sinking of caisson segments, comprising the following steps:

[0006] In automatic synchronization mode, the real-time stroke value of each propulsion cylinder is obtained;

[0007] Based on the real-time stroke values ​​of each propulsion cylinder, the corresponding average stroke is calculated.

[0008] Using the average stroke as the synchronization reference, the stroke deviation of each propulsion cylinder is calculated respectively;

[0009] Adjust the propulsion speed of the corresponding propulsion cylinder according to the stroke deviation of each propulsion cylinder so that the actual stroke of the propulsion cylinder tends to the average stroke.

[0010] Repeat the above steps until the actual stroke of the hydraulic cylinder reaches the set stroke or exits the automatic synchronization mode.

[0011] A further improvement of the caisson segment sinking synchronous control method of the present invention is that it further includes:

[0012] Provide proportional flow valves, and install one proportional flow valve in the oil supply line for each propulsion cylinder;

[0013] When adjusting the propulsion speed of the corresponding propulsion cylinder, the corresponding proportional flow valve is driven to adjust the propulsion speed of the propulsion cylinder.

[0014] A further improvement of the caisson segment sinking synchronous control method of the present invention is that it also includes a manual mode. In the manual mode, corresponding operation commands are input through the touch screen to control the extension, retraction and locking of the corresponding propulsion cylinder, thereby adjusting the levelness of the top surface of the caisson.

[0015] A further improvement of the caisson segment sinking synchronous control method of the present invention is that it further includes:

[0016] Real-time acquisition of pressure data for the rod-side and rodless-side chambers of each propulsion cylinder;

[0017] Determine whether the acquired pressure data is greater than or equal to the set pressure value;

[0018] If so, a pressure anomaly signal will be generated to facilitate pressure adjustment.

[0019] A further improvement of the caisson segment sinking synchronous control method of the present invention is that it further includes:

[0020] It displays the stroke, speed, pressure, and thrust data of each propulsion cylinder in real time.

[0021] The present invention also provides a caisson segment sinking synchronous control system, comprising:

[0022] The data acquisition unit is used to collect the real-time stroke values ​​of each propulsion cylinder;

[0023] The calculation unit is connected to the acquisition unit. The calculation unit is used to calculate the corresponding average stroke based on the real-time stroke value of each propulsion cylinder; it is also used to calculate the stroke deviation of each propulsion cylinder based on the average stroke as a synchronization reference.

[0024] The processing unit is connected to the acquisition unit, the calculation unit, and each propulsion cylinder. The processing unit is used to adjust the propulsion speed of the corresponding propulsion cylinder according to the stroke deviation of each propulsion cylinder, so that the actual stroke of the propulsion cylinder tends to the average stroke. The processing unit is also used to determine whether the actual stroke of each propulsion cylinder has reached the set stroke, and control the corresponding propulsion cylinder to stop when the set stroke is reached.

[0025] A further improvement of the caisson segment sinking synchronous control system of the present invention is that it also includes a proportional flow valve on the oil supply line of each propulsion cylinder.

[0026] The processing unit is connected to the proportional flow valve, and the processing unit is used to drive the corresponding proportional flow valve to adjust the propulsion speed of the propulsion cylinder.

[0027] A further improvement of the caisson segment sinking synchronous control system of the present invention is that it also includes a touch screen, which is used to manually input the corresponding operation commands;

[0028] The processing unit is connected to the touch screen and is used to receive operation commands input by the touch screen and control the extension, retraction and locking of the corresponding propulsion cylinder, thereby realizing manual adjustment of the levelness of the top surface of the caisson.

[0029] A further improvement of the caisson segment sinking synchronous control system of the present invention is that it also includes a pressure monitoring unit connected to the acquisition unit;

[0030] The acquisition unit is also used to acquire pressure data of the rod chamber and rodless chamber of each propulsion cylinder in real time;

[0031] The pressure monitoring unit is used to determine whether the acquired pressure data is greater than or equal to the set pressure value; if so, it generates a pressure abnormality signal to facilitate pressure adjustment.

[0032] A further improvement of the caisson segment sinking synchronous control system of the present invention is that it also includes a display unit for real-time display of the stroke, speed, pressure and thrust data of each propulsion cylinder.

[0033] The beneficial effects of the caisson segment sinking synchronous control system and method of the present invention are as follows:

[0034] This invention collects the stroke of the hydraulic cylinder in real time and uses the real-time average stroke as a dynamic benchmark to achieve synchronous control of the extension stroke of multiple propulsion hydraulic cylinders. This allows each propulsion hydraulic cylinder to approach the average stroke, ensuring synchronization accuracy, avoiding large differences in the stroke of each hydraulic cylinder, and significantly reducing environmental disturbances. Attached Figure Description

[0035] Figure 1 This is a system diagram of the synchronous control system for sinking caisson segments according to the present invention.

[0036] Figure 2 This is a flowchart of the synchronous control method for sinking caisson segments according to the present invention.

[0037] Figure 3 This is the core control flowchart of the caisson segment sinking synchronous control system and method of the present invention. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] See Figure 1This invention provides a synchronous control system and method for caisson segment sinking. It collects real-time stroke and pressure data from each propulsion cylinder, and through high-speed calculation and dynamic adjustment, ensures that each propulsion cylinder operates in strict synchronization. This achieves vertical, stable, uniform, or variable-speed controlled sinking of the caisson segments, thereby significantly improving construction accuracy and safety, and effectively reducing negative impacts on the surrounding environment. The synchronous control system and method for caisson segment sinking of this invention will be described below with reference to the accompanying drawings.

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0041] See Figure 1 This diagram shows the system diagram of the caisson segment sinking synchronous control system of the present invention. The following is in conjunction with... Figure 1 The present invention describes the synchronous control system for sinking caisson segments.

[0042] like Figure 1 As shown, the caisson segment sinking synchronous control system of the present invention includes a data acquisition unit 21, a calculation unit 22, and a processing unit 23. The data acquisition unit 21 is connected to the calculation unit 22, and the processing unit 23 is connected to both the data acquisition unit 21 and the calculation unit 22. The data acquisition unit 21 is used to acquire the real-time stroke value of each propulsion cylinder. The calculation unit 22 is used to calculate the corresponding average stroke based on the real-time stroke value of each propulsion cylinder. It is also used to calculate the stroke deviation of each propulsion cylinder based on the average stroke as a synchronization reference. The processing unit 23 is also connected to each propulsion cylinder. The processing unit 23 is used to adjust the propulsion speed of the corresponding propulsion cylinder according to the stroke deviation of each propulsion cylinder so that the actual stroke of the propulsion cylinder tends to the average stroke. The processing unit 23 is also used to determine whether the actual stroke of each propulsion cylinder has reached the set stroke, and to control the corresponding propulsion cylinder to stop when the set stroke is reached.

[0043] The caisson segment construction is achieved by pushing down multiple propulsion cylinders arranged around the circumference of the top surface of the segment. The synchronous control system of this invention is used to control the propulsion of each propulsion cylinder, so that the caisson segment sinks smoothly and evenly in the vertical direction, improving construction accuracy, safety and reducing negative impact on the surrounding environment.

[0044] The processing unit 23 of the present invention is provided with an automatic synchronization mode. In the automatic synchronization mode, the processing unit 23 controls each propulsion cylinder based on the average formation of each propulsion cylinder. Preferably, the synchronization control system of the present invention has an operation interface, on which there is an automatic synchronization mode button. By selecting the automatic synchronization mode button, the system can enter the automatic synchronization mode.

[0045] Furthermore, a stroke sensor is installed at the propulsion cylinder to detect the real-time stroke value of the corresponding propulsion cylinder. The acquisition unit 21 of the present invention is connected to each stroke sensor to receive the real-time stroke value detected by each stroke sensor.

[0046] Furthermore, the synchronous control system of the present invention also includes a proportional flow valve disposed on the oil supply line of each propulsion cylinder;

[0047] The processing unit 23 is connected to the proportional flow valve and is used to drive the corresponding proportional flow valve to adjust the propulsion speed of the propulsion cylinder.

[0048] Preferably, when the operator starts the automatic synchronization mode, they also set the target stroke and reference sinking speed for this sinking through the operation interface. The processing unit 23 then operates each propulsion cylinder according to the set reference sinking speed, combined with... Figure 3 As shown, stroke sensors installed at each propulsion cylinder collect real-time stroke values ​​at fixed intervals (e.g., 10ms). Calculation unit 22 calculates the average stroke at the current moment (or current period) based on the received real-time stroke values, and then calculates the stroke deviation of each propulsion cylinder based on this average stroke. Processing unit 23 controls the proportional flow valve of the corresponding propulsion cylinder according to the stroke deviation calculated by calculation unit 22. If the stroke deviation is large, the opening of the proportional flow valve is increased to accelerate the extension speed of the propulsion cylinder to catch up with the average stroke; conversely, it is slowed down. This process is executed cyclically in each control cycle, forming a dynamic real-time closed loop, until the real-time stroke value of the propulsion cylinder reaches the target sinking stroke.

[0049] In one specific embodiment of the present invention, a pressure monitoring unit connected to the acquisition unit 21 is also included;

[0050] The acquisition unit 21 is also used to acquire pressure data of the rod chamber and rodless chamber of each propulsion cylinder in real time;

[0051] The pressure monitoring unit is used to determine whether the acquired pressure data is greater than or equal to the set pressure value; if so, it generates a pressure abnormality signal to facilitate pressure adjustment.

[0052] Preferably, pressure sensors are installed in the rod chamber and rodless chamber of the propulsion cylinder to detect the pressure data of the propulsion cylinder in real time; the acquisition unit 21 is connected to the pressure sensor to receive the pressure data detected by the pressure sensor in real time.

[0053] Furthermore, a proportional relief valve is installed at the propulsion cylinder. After the pressure monitoring unit generates a pressure anomaly signal, it sends the signal to the processing unit 23. The processing unit 23 is connected to the proportional relief valve and controls its opening to fine-tune the pressure of the propulsion cylinder. When the pressure of the propulsion cylinder rises abnormally, such as when encountering significant resistance, the pressure monitoring unit determines that the pressure change exceeds a certain value and generates a pressure anomaly signal for early warning. This allows the operator to intervene and make manual adjustments. The operator can reduce the overall descent speed, i.e., reduce the propulsion speed of all propulsion cylinders, achieving adaptive descent by slowing down when encountering hard surfaces and accelerating when encountering soft surfaces.

[0054] In one specific embodiment of the present invention, a touch screen is also included, which is used for manually inputting corresponding operation commands;

[0055] The processing unit 23 is connected to the touch screen and is used to receive operation commands input from the touch screen and control the extension, retraction and locking of the corresponding propulsion cylinder, thereby realizing the manual adjustment of the level of the top surface of the caisson.

[0056] The touchscreen also features a display function, showing the system's operating interface. A manual mode button is included on the interface, allowing operators to manually control any of the propulsion cylinders. This manual mode can be used during installation or alignment adjustments. In manual mode, operators can individually control the extension, retraction, and locking of any single propulsion cylinder via the touchscreen, and independently set its working pressure and speed for fine-tuning the levelness of the caisson's top surface.

[0057] Furthermore, the synchronous control system of the present invention also includes a display unit for real-time display of the stroke, speed, pressure, and thrust data of each propulsion cylinder. This display unit is connected to a touchscreen, displaying key data and curves such as the stroke, speed, pressure, and thrust data of each propulsion cylinder on the touchscreen's operating interface. Target parameters, such as sinking speed and target stroke, can also be set on the touchscreen's operating interface.

[0058] In this invention, each propulsion cylinder is connected to a propulsion pump via pipelines, and the propulsion pump provides power to each propulsion cylinder. Each propulsion cylinder is equipped with a stroke sensor, a rod-side / rodless-side pressure sensor, a proportional flow valve, and a proportional relief valve. All sensors are fed back to the acquisition unit via an industrial bus or other network. The processing unit then generates control signals based on the signals sent by the acquisition unit and sends them to each proportional valve to achieve synchronous control. The processing unit 23 of this invention employs a medium-to-large-sized PLC with high-speed PID control, which can generate control signals to achieve stepless adjustment of the flow rate (controlling speed) entering the cylinder and the system pressure (controlling thrust).

[0059] The present invention also provides a method for synchronous control of the sinking of caisson segments, which will be described below.

[0060] like Figure 2 As shown, the control method of the present invention includes the following steps:

[0061] Execute step S11 to obtain the real-time stroke value of each propulsion cylinder in automatic synchronization mode; then execute step S12.

[0062] Execute step S12 to calculate the corresponding average stroke based on the real-time stroke values ​​of each propulsion cylinder; then execute step S13.

[0063] Execute step S13, using the average stroke as the synchronization reference, and calculate the stroke deviation of each propulsion cylinder respectively; then execute step S14.

[0064] Execute step S14, adjust the propulsion speed of the corresponding propulsion cylinder according to the stroke deviation of each propulsion cylinder, so that the actual stroke of the propulsion cylinder tends to the average stroke; then execute step S15.

[0065] Execute step S15 and repeat the above steps until the actual stroke of the hydraulic cylinder reaches the set stroke or the automatic synchronization mode is exited.

[0066] In one specific embodiment of the present invention, it further includes: providing a proportional flow valve, wherein one proportional flow valve is installed on the oil supply line of each propulsion cylinder;

[0067] When adjusting the propulsion speed of the corresponding propulsion cylinder, the corresponding proportional flow valve is driven to adjust the propulsion speed of the propulsion cylinder.

[0068] In one specific embodiment of the present invention, the method further includes: acquiring pressure data of the rod chamber and rodless chamber of each propulsion cylinder in real time; determining whether the acquired pressure data is greater than or equal to a set pressure value; if so, generating a pressure abnormality signal to facilitate pressure adjustment.

[0069] When the pressure of the propulsion cylinder is abnormal, the system pressure can be finely adjusted by the proportional relief valve set at the propulsion cylinder, or the operator can intervene to reduce the overall sinking speed, so as to achieve adaptive sinking by slowing down when encountering hard surfaces and speeding up when encountering soft surfaces.

[0070] Furthermore, it also includes a manual mode. In manual mode, corresponding operation commands are input via the touchscreen to control the extension, retraction, and locking of the corresponding propulsion cylinders, thereby adjusting the levelness of the caisson top surface. During installation or correction, the system can switch to manual mode. In this mode, the operator can independently control the extension, retraction, and locking of any propulsion cylinder and independently set its working pressure and speed for fine-tuning the levelness of the caisson top surface.

[0071] In one specific embodiment of the present invention, it further includes: real-time display of the stroke, speed, pressure and thrust data of each propulsion cylinder.

[0072] The beneficial effects of the caisson segment sinking synchronous control system and method of the present invention are as follows:

[0073] Multi-cylinder high-precision synchronous closed-loop control architecture: Utilizing a real-time PID closed-loop control loop composed of a PLC, high-precision stroke sensor, and proportional flow valve, it achieves millimeter-level (e.g., ±1mm) synchronous control of the extension stroke of multiple (≥2) propulsion cylinders, using the average stroke as a dynamic benchmark. Extremely high synchronization accuracy: It reduces the sinking synchronization error from centimeter-level or even larger using traditional methods to millimeter-level (±1mm), achieving true "synchronized movement."

[0074] Dynamic reference synchronization algorithm based on average stroke: The target of synchronization control is not a fixed set value, but the average stroke calculated in real time. This gives the system automatic load sharing and adaptive capabilities, which can naturally offset the small errors or disturbances of a single cylinder.

[0075] Dual-mode control strategy: It integrates a "fully automatic synchronous mode" for normal descent and a "manual single-action mode" for attitude correction / installation. The two can be seamlessly switched, and the manual mode still has programmable control capabilities for pressure and speed. Automatic synchronization fundamentally prevents tilting, while the manual mode enables rapid and proactive correction, changing the traditional passive situation of "correcting tilting after it occurs".

[0076] Parametric and visualized construction management: Key parameters such as sinking speed, stroke, pressure, and thrust are all digitized and visualized through a touch screen, and historical data can be recorded, enabling the construction process to be controllable, adjustable, and traceable.

[0077] Intelligent and adaptive: The system can automatically adjust based on real-time feedback data, responding quickly and in a coordinated manner to load changes, thus improving stability and safety when traversing complex geological formations.

[0078] Significantly reduces environmental disturbance: The uniform, vertical, and controllable settlement process greatly reduces the uneven compression and shearing of the surrounding soil during construction, effectively protecting adjacent buildings and structures.

[0079] Improved construction efficiency and quality: It avoided accidents such as sudden sinking and jamming, reduced the time for correction and accident handling, and ensured the final construction quality of the caisson.

[0080] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A method for synchronous control of caisson segment sinking, characterized in that, Includes the following steps: In automatic synchronization mode, the real-time stroke value of each propulsion cylinder is obtained; Based on the real-time stroke values ​​of each propulsion cylinder, the corresponding average stroke is calculated. Using the average stroke as the synchronization reference, the stroke deviation of each propulsion cylinder is calculated respectively; Adjust the propulsion speed of the corresponding propulsion cylinder according to the stroke deviation of each propulsion cylinder so that the actual stroke of the propulsion cylinder tends to the average stroke. Repeat the above steps until the actual stroke of the hydraulic cylinder reaches the set stroke or exits the automatic synchronization mode.

2. The method for synchronous control of caisson segment sinking as described in claim 1, characterized in that, Also includes: Provide proportional flow valves, and install one proportional flow valve in the oil supply line for each propulsion cylinder; When adjusting the propulsion speed of the corresponding propulsion cylinder, the corresponding proportional flow valve is driven to adjust the propulsion speed of the propulsion cylinder.

3. The method for synchronous control of caisson segment sinking as described in claim 1, characterized in that, It also includes a manual mode, in which users can input corresponding operation commands via the touchscreen to control the extension, retraction, and locking of the corresponding propulsion cylinder, thereby adjusting the levelness of the caisson top surface.

4. The method for synchronous control of caisson segment sinking as described in claim 1, characterized in that, Also includes: Real-time acquisition of pressure data for the rod-side and rodless-side chambers of each propulsion cylinder; Determine whether the acquired pressure data is greater than or equal to the set pressure value; If so, a pressure anomaly signal will be generated to facilitate pressure adjustment.

5. The method for synchronous control of caisson segment sinking as described in claim 1, characterized in that, Also includes: It displays the stroke, speed, pressure, and thrust data of each propulsion cylinder in real time.

6. A synchronous control system for sinking caisson segments, characterized in that, include: The data acquisition unit is used to collect the real-time stroke values ​​of each propulsion cylinder; The calculation unit is connected to the acquisition unit. The calculation unit is used to calculate the corresponding average stroke based on the real-time stroke value of each propulsion cylinder; it is also used to calculate the stroke deviation of each propulsion cylinder based on the average stroke as a synchronization reference. The processing unit is connected to the acquisition unit, the calculation unit, and each propulsion cylinder. The processing unit is used to adjust the propulsion speed of the corresponding propulsion cylinder according to the stroke deviation of each propulsion cylinder, so that the actual stroke of the propulsion cylinder tends to the average stroke. The processing unit is also used to determine whether the actual stroke of each propulsion cylinder has reached the set stroke, and control the corresponding propulsion cylinder to stop when the set stroke is reached.

7. The caisson segment sinking synchronous control system as described in claim 6, characterized in that, It also includes a proportional flow valve installed on the oil supply line of each propulsion cylinder; The processing unit is connected to the proportional flow valve, and the processing unit is used to drive the corresponding proportional flow valve to adjust the propulsion speed of the propulsion cylinder.

8. The caisson segment sinking synchronous control system as described in claim 6, characterized in that, It also includes a touch screen, which is used to manually input corresponding operation commands; The processing unit is connected to the touch screen and is used to receive operation commands input by the touch screen and control the extension, retraction and locking of the corresponding propulsion cylinder, thereby realizing manual adjustment of the levelness of the top surface of the caisson.

9. The caisson segment sinking synchronous control system as described in claim 6, characterized in that, It also includes a pressure monitoring unit connected to the acquisition unit; The acquisition unit is also used to acquire pressure data of the rod chamber and rodless chamber of each propulsion cylinder in real time; The pressure monitoring unit is used to determine whether the acquired pressure data is greater than or equal to the set pressure value; if so, it generates a pressure abnormality signal to facilitate pressure adjustment.

10. The caisson segment sinking synchronous control system as described in claim 6, characterized in that, It also includes a display unit for real-time display of the stroke, speed, pressure, and thrust data of each propulsion cylinder.

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