Electrically driven pipe rack for diaphragm wall concrete pouring and method of use

Abstract

The application provides an electrically-driven guide pipe support for diaphragm wall concrete pouring and a use method, and relates to the technical field of diaphragm wall construction equipment, and comprises a main frame system which is composed of a guide pipe support main body, a standing platform, vertical main vertical rods, horizontal main vertical rods, main inclined braces and auxiliary inclined braces; a hydraulic leveling system which is composed of a plurality of adjustable supports, wherein the adjustable supports adopt a four-oil-cylinder synchronous hydraulic leveling mechanism; an electrically-driven lifting system which is composed of a pulley block, a steel wire rope, a hook group, a motor switch and a motor driving group, wherein the electrically-driven lifting system is used for lifting the guide pipe through the hook group and adjusting the lifting speed of the guide pipe through the motor driving group; and a control system which is composed of a data acquisition unit, a data acquisition unit and a motor control unit which are connected in sequence. The application realizes the cooperative automatic control of the guide pipe lifting and the guide pipe support posture adjustment in the diaphragm wall concrete pouring process.

Description

Technical Field

[0001] This invention relates to the field of equipment technology for diaphragm wall construction, and more specifically, to an electrically driven guide frame for diaphragm wall concrete pouring and its usage method. Background Technology

[0002] As urban underground space development becomes deeper, larger, and more complex, diaphragm walls, as key components for deep foundation pit support and underground structural load-bearing, directly impact the overall safety and durability of the project through their concrete pouring quality. During diaphragm wall construction, concrete is continuously poured to the bottom of the trench via a tremie pipe, relying on the fluidity of the concrete within the tremie pipe to fill the trench section and remove slurry. However, existing tremie pipe systems have revealed numerous technical bottlenecks during construction.

[0003] Traditional guide frames rely heavily on manual operation or mechanical adjustments, resulting in low positioning accuracy and slow response. Especially in diaphragm wall construction at depths exceeding 30m, the guide frames are susceptible to displacement or blockage due to factors such as mud resistance and trench section misalignment, leading to problems like concrete segregation and mud inclusion. Studies have shown that a deviation of more than 10cm at the guide frame opening or improper control of the guide frame embedment depth can significantly reduce concrete density and even create hidden quality issues such as wall delamination and leakage channels.

[0004] While existing hydraulically driven jacket systems can achieve a certain degree of automated adjustment, they are complex, energy-intensive, and pose a risk of hydraulic oil leakage, which could pollute the underground environment. Furthermore, traditional jacket systems lack real-time monitoring and dynamic feedback mechanisms, requiring repeated shutdowns during construction to check the jacket depth and concrete surface height, severely limiting construction efficiency. In ultra-deep or irregularly shaped trench construction, poor synchronization during multi-jacket operation can easily lead to uneven concrete coverage, affecting the overall integrity of the wall.

[0005] No effective solutions have yet been proposed to address the problems in the relevant technologies. Summary of the Invention

[0006] In view of this, the present invention provides an electrically driven guide frame for diaphragm wall concrete pouring and a method of using it to solve the above-mentioned problems.

[0007] To solve the above problems, the specific technical solution adopted by the present invention is as follows:

[0008] According to one aspect of the present invention, an electrically driven guide frame for concrete pouring of diaphragm walls is provided, comprising:

[0009] The main frame system consists of the jacket structure, the standing platform, the vertical main uprights, the horizontal main uprights, the main diagonal braces, and the auxiliary diagonal braces.

[0010] The hydraulic leveling system consists of several adjustable supports, which employ a four-cylinder synchronous hydraulic leveling mechanism.

[0011] The electric drive lifting system consists of a pulley block, wire rope, hook block, motor switch and motor drive unit. The electric drive lifting system is used to lift the conduit through the hook block and to adjust the lifting speed of the conduit through the motor drive unit.

[0012] The control system consists of a data acquisition unit, a data acquisition unit, and a motor control unit connected in sequence.

[0013] The data acquisition unit is used to collect the height between the four corners of the main body of the guide frame and the ground, the real-time speed of the motor drive group, and the height of the concrete liquid level during the construction of the diaphragm wall by using a laser level that is pre-configured on the adjustable support.

[0014] The four-cylinder control unit is used to calculate the extension and retraction of each adjustable support based on the height between the four corners of the main body of the jacket and the ground, through compensation correction and uncertainty correction analysis, and control the four cylinders to move synchronously to achieve leveling.

[0015] The motor control unit is used to adjust the output speed of the motor drive group according to the concrete liquid level and the real-time speed of the motor drive group, so as to control the lifting and lowering speed of the guide tube.

[0016] Preferably, the four-cylinder control unit includes:

[0017] The attitude angle determination module is used to calculate the current roll angle and pitch angle of the jacket body based on the height between the four corners of the jacket body and the ground, and obtain the current attitude angle of the jacket body.

[0018] The extension / retraction increment calculation module is used to compare the current attitude angle of the jacket body with the preset target horizontal attitude angle to obtain the attitude angle deviation of the jacket body, and calculate the expected cylinder extension / retraction increment based on the attitude angle deviation.

[0019] The extension / retraction increment correction module is used to calculate the integral value of the attitude angle deviation, and by constructing an unknown system dynamics estimator, calculate the total error compensation amount, and add the total error compensation amount to the cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment.

[0020] The target extension / retraction determination module is used to calculate the target extension / retraction of each cylinder based on the corrected cylinder extension / retraction increment, combined with the real-time performance matrix of each adjustable support and the preset weight matrix, using a weighted pseudo-inverse control allocation algorithm, and controlling the four cylinders to move synchronously to the target extension / retraction amount, so as to achieve automatic leveling of the main body of the guide frame.

[0021] Preferably, the integral value of the calculated attitude angle deviation, and the total error compensation amount calculated by constructing an unknown system dynamics estimator, and the total error compensation amount added to the cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment, include:

[0022] The attitude angle deviation is integrated to obtain the integral value of the attitude angle deviation;

[0023] An unknown system dynamics estimator is constructed, and the uncertainty estimate is obtained through uncertainty dynamic estimation by using the current attitude angle of the jacket body and the extension and retraction of the cylinder.

[0024] Based on the integral value of the attitude angle deviation and the uncertainty estimate, the total error compensation is calculated and added to the expected cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment.

[0025] Preferably, the construction of the unknown system dynamics estimator, and the use of the current attitude angle of the jacket body and the extension / retraction of the cylinder, to obtain the uncertainty estimate through uncertain dynamic estimation, includes:

[0026] Establish a state equation with the attitude angle of the main body of the jacket as the state variable and the extension and retraction of each adjustable support as the control input;

[0027] The state equations are transformed into standard affine nonlinear form, and the nominal nonlinear dynamic function and control distribution function are constructed.

[0028] Construct first-order low-pass filters for the state variables and control inputs respectively to obtain the state filter value and the input filter value;

[0029] Based on the state filter value, input filter value, nominal nonlinear dynamic function, and control distribution function, an unknown system dynamics estimator is constructed, and the uncertainty estimate is solved in real time through algebraic operations.

[0030] Preferably, the step of calculating the target extension / retraction amount of each cylinder based on the corrected cylinder extension / retraction increment, combined with the real-time performance matrix of each adjustable support and a preset weight matrix, using a weighted pseudo-inverse control allocation algorithm, and controlling the four cylinders to move synchronously to the target extension / retraction amount to achieve automatic leveling of the guide frame body includes:

[0031] Based on the structural parameters of the jacket main body and the current position of each adjustable support, a real-time performance matrix is ​​constructed. The real-time performance matrix represents the mapping relationship between the unit extension increment of each adjustable support and the rate of change of the roll angle and pitch angle of the jacket main body.

[0032] Based on the stroke margin of each cylinder, a weight matrix is ​​preset to adjust the participation weight of each support in the control distribution.

[0033] Based on the incremental weighted pseudo-inverse control allocation algorithm, the modified cylinder extension increment is used as the desired attitude change rate control command, and the extension increment of each cylinder is calculated by combining the real-time performance matrix and the weight matrix.

[0034] The incremental extension / retraction of each cylinder is added to the current actual extension / retraction to obtain the target extension / retraction. Based on the target extension / retraction, the four cylinders are controlled to move synchronously to achieve automatic leveling of the main body of the guide frame.

[0035] Preferably, the incremental weighted pseudo-inverse control allocation algorithm, which uses the corrected cylinder extension / retraction increment as the desired attitude change rate control command, and combines the real-time performance matrix and weight matrix to calculate the extension / retraction increment of each cylinder, includes the following steps:

[0036] Construct a weighted performance matrix based on the real-time performance matrix and the preset weight matrix;

[0037] The pseudo-inverse of the weighted efficiency matrix is ​​obtained by processing the pseudo-inverse.

[0038] The modified cylinder extension / retraction increment is used as the desired attitude change rate control command, and the extension / retraction increment of each cylinder is interpreted through a preset calculation formula.

[0039] Preferably, the motor control unit includes:

[0040] The data calculation module is used to obtain the concrete liquid level height at different time periods, calculate the rate of change of the concrete liquid level height, and determine the expected lifting and lowering speed of the guide pipe based on the rate of change of the concrete liquid level height.

[0041] The speed tracking error calculation module is used to collect the real-time rotation speed of the motor drive group as the actual lifting speed of the duct, and to calculate the speed tracking error between the expected lifting speed and the actual lifting speed.

[0042] The preset time sliding mode control law establishment module is used to construct a preset time sliding mode surface containing velocity tracking error based on the preset time stability theory, and to establish a preset time sliding mode control law that enables the velocity tracking error to converge to zero within a preset time.

[0043] The output speed calculation module is used to determine the output speed of the motor drive group according to the preset time sliding mode control law.

[0044] Preferably, the step of constructing a preset time sliding surface containing velocity tracking error based on a preset time stability theory, and establishing a preset time sliding mode control law that enables the velocity tracking error to converge to zero within a preset time includes:

[0045] Based on the speed tracking error between the expected and actual lifting speeds, a time convergence compensation term is calculated, and a preset time sliding surface is constructed based on the combination of the speed tracking error and the time convergence compensation term.

[0046] The dynamic characteristic equation of the sliding surface is obtained by differentiating the sliding surface over a preset time, and a preset time approach law is constructed based on the preset time stability theory so that the sliding surface can converge to zero within a preset time.

[0047] Based on the preset time convergence law and combined with the dynamic characteristic equation of the sliding surface, the basic form of the preset time sliding control law is determined so that the speed tracking error can converge to zero along the sliding surface within the preset time.

[0048] Preferably, the step of differentiating the sliding surface over a preset time to obtain the dynamic characteristic equation of the sliding surface, and constructing a preset time-reaching law based on a preset time stability theory, so that the sliding surface can converge to zero within a preset time includes:

[0049] By taking the first derivative of the preset time sliding surface, the dynamic characteristic equation of the sliding surface is obtained;

[0050] Based on the dynamic characteristic equation of the sliding surface and combined with the preset time stability theory, an equation relationship is established between the derivative of the sliding surface and the preset time approaching term;

[0051] By proposing an equation relating the derivative of the sliding surface to the preset time-approaching term, a preset time-approaching law is determined that enables the sliding surface to converge to zero within a preset time.

[0052] According to another aspect of the present invention, a method of using an electrically driven guide frame for diaphragm wall concrete pouring is provided, the method comprising the following steps:

[0053] S1. Assemble the electrically driven jacket for concrete pouring of diaphragm walls, and use the single-point hoisting method to hoist the electrically driven jacket to the preset area.

[0054] S2. Level the electrically driven conduit frame based on the control system and install the conduit;

[0055] S3. Use a duct to perform air lift reverse circulation slag removal and then pour concrete.

[0056] S4. During the concrete pouring process, the concrete level is obtained, and the control system is used to control the raising and lowering of the guide pipe until the concrete pouring is completed.

[0057] S5. After the concrete pouring is completed, remove the guide pipe and hoist out the electric drive guide pipe frame;

[0058] S6. Disassemble the electrically driven jacket after it has been lifted out.

[0059] The beneficial effects of this invention are as follows:

[0060] 1. The present invention integrates an electrically controlled lifting, adjustable support and safe operating platform for the guide frame system. By organically integrating the motor-driven lifting mechanism, the four-cylinder synchronous leveling mechanism and the standing platform, it realizes the coordinated and automated control of guide frame lifting and guide frame posture adjustment during the concrete pouring process of diaphragm wall. It is especially suitable for underground diaphragm wall concrete pouring projects with harsh construction conditions and high safety requirements, such as water-rich sand layers, ultra-deep foundation pits and complex urban environments.

[0061] 2. This invention introduces an unknown system dynamics estimator, enabling online estimation and compensation for uncertainties such as hydraulic system nonlinearity, load changes, and ground settlement, significantly improving the system's robustness and anti-interference capability. Employing an incremental weighted pseudo-inverse control allocation algorithm, it comprehensively considers the real-time performance and stroke margin of each cylinder, achieving coordinated optimization control of the four cylinders, avoiding mechanical limits and overload risks, while ensuring the smoothness and accuracy of the leveling process. By introducing the integral value of the attitude angle deviation, steady-state error is eliminated, ensuring the long-term accuracy of leveling. This invention provides a high-precision, high-reliability automated leveling solution for diaphragm wall concrete pouring.

[0062] 3. This invention allows the convergence time of speed tracking error to be directly set by the user through a preset time sliding mode control law, overcoming the limitations of traditional control methods where response time depends on the initial state and requires repeated parameter adjustments, thus greatly simplifying on-site debugging. By constructing a preset time sliding surface and a preset time approach law, the system can quickly and smoothly eliminate speed deviations within the user-set time, while maintaining strong robustness against uncertainties such as load changes, motor aging, and external disturbances. The entire control process, from liquid level data acquisition and desired speed generation to control law calculation and speed output, is logically clear and has a complete closed loop. It can respond in real time to the dynamic changes in the liquid level during concrete pouring, ensuring precise synchronization between the duct lifting speed and the liquid level rise speed, providing reliable technical support for high-quality diaphragm wall construction. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0064] Figure 1 This is a schematic diagram of an electrically driven guide frame for concrete pouring of diaphragm walls according to an embodiment of the present invention.

[0065] Figure 2This is a schematic diagram of a detachable longitudinal section of an electrically driven guide frame for concrete pouring of diaphragm walls according to an embodiment of the present invention.

[0066] Figure 3 This is a schematic cross-sectional view of the connection between the main upright and the main flange in an electrically driven guide frame for diaphragm wall concrete pouring according to an embodiment of the present invention.

[0067] Figure 4 This is a schematic diagram of the connection between the main upright and the main flange in an electrically driven guide frame for diaphragm wall concrete pouring according to an embodiment of the present invention.

[0068] Figure 5 This is a schematic diagram of the main diagonal brace, main upright, and main bolt hinge in an electrically driven guide frame for concrete pouring of diaphragm walls according to an embodiment of the present invention.

[0069] Figure 6 This is a construction schematic diagram of an electrically driven guide frame for concrete pouring of diaphragm walls according to an embodiment of the present invention.

[0070] Figure 7 This is a flowchart illustrating a method for using an electrically driven guide frame for concrete pouring of diaphragm walls according to an embodiment of the present invention.

[0071] In the picture:

[0072] 1. Adjustable support; 2. Main body of the jacket frame; 3. Standing platform; 4. Vertical main support; 5. Horizontal main support; 6. Main diagonal brace; 7. Auxiliary diagonal brace; 8. Pulley block; 9. Wire rope; 10. Hook assembly; 11. Motor switch; 12. Motor drive assembly; 13. Control system; 14. Jacket frame hoisting hole; 15. Funnel; 16. Pipe; 17. Diaphragm wall; 18. Concrete; 19. Flange structure; 20. First high-strength bolt; 21. Second high-strength bolt. Detailed Implementation

[0073] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0074] According to an embodiment of the present invention, an electrically driven guide frame for diaphragm wall concrete pouring and a method of using it are provided.

[0075] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments, such as... Figure 1-6As shown, according to an embodiment of the present invention, an electrically driven guide frame for diaphragm wall concrete pouring is provided, comprising: a main frame system, a hydraulic leveling system, an electrically driven lifting system, and a control system.

[0076] The main frame system consists of the jacket main body 2, the standing platform 3, the vertical main uprights 4, the horizontal main uprights 5, the main diagonal braces 6, and the auxiliary diagonal braces 7;

[0077] The hydraulic leveling system consists of several adjustable supports 1, wherein the adjustable supports 1 adopt a four-cylinder synchronous hydraulic leveling mechanism.

[0078] The electric drive lifting system consists of a pulley block 8, a wire rope 9, a hook block 10, a motor switch 11, and a motor drive block 12. The electric drive lifting system is used to lift the conduit 16 through the hook block 10 and to adjust the lifting speed of the conduit 16 through the motor drive block 12. In addition, in specific applications, the conduit 16 is directly connected to the hook block 10 through a funnel 15.

[0079] It should be noted that the standing platform 3 is located inside the main body 2 of the jacket frame, and two sets of vertical main uprights 4 are symmetrically arranged at one end of the top of the main body 2 of the jacket frame. The horizontal main uprights 5 are located at the top of the vertical main uprights 4. One end of the main diagonal brace 6 is located on the outside of the vertical main uprights 4, and the other end of the main diagonal brace 6 is located at the top of the other end of the main body 2 of the jacket frame. The auxiliary diagonal brace 7 is used to connect the outside of the horizontal main uprights 5 with the outside of the vertical main uprights 4.

[0080] Specifically, the main body 2 of the jacket structure is made of H-beams or square steel, the vertical main uprights 4 and the horizontal main uprights 5 are made of round steel pipes with a diameter ≥ Φ130mm, and the vertical main uprights 4 are connected to the main body 2 of the jacket structure by a flange structure; the main diagonal braces 6 and the auxiliary diagonal braces 7 are made of round steel pipes with a diameter ≥ Φ110mm, the main diagonal braces 6 are connected to the main body 2 of the jacket structure and the vertical main uprights 4 by double-ear bolt hinges respectively; the auxiliary diagonal braces 7 are welded to the vertical main uprights 4 and the horizontal main uprights 5 at a 45° angle to form a triangular stable structure; the standing platform 3 is made of steel grating welded to the top of the main body 2 of the jacket structure;

[0081] Several adjustable supports 1 are sequentially installed at the four bottom corners of the main body 2 of the guide frame. A pulley block 8 is located on the outer middle of the horizontal main upright 5. The pulley block 8 is connected to the hook assembly 10 by a steel wire rope 9, and one end of the steel wire rope 9 is connected to a motor drive assembly 12, which is located at the top of the standing platform 3. A motor switch 11 is installed on the outer side of one set of main diagonal braces 6.

[0082] Specifically, the adjustable support 1 adopts a four-cylinder synchronous hydraulic leveling mechanism, equipped with a laser level (error ≤ ±0.5mm / m) and a special anti-settlement pad for sandy soil, and the flatness error Δh after leveling is ≤2mm; the pulley block 8 is a double pulley structure with a transmission efficiency η≥85%; the lifting speed of the guide pipe is dynamically matched with the concrete flow speed to meet the safety factor k=0.5-0.8.

[0083] In addition, the above components also satisfy the following relationship:

[0084] 1. Vertical main uprights 4 and horizontal main uprights 5 are made of round steel pipes with a diameter ≥ Φ130mm; main diagonal braces 6 and auxiliary diagonal braces 7 are made of round steel pipes with a diameter ≥ Φ110mm. The intersection angle θ between the main diagonal braces 6 and the auxiliary diagonal braces 7 satisfies the formula:

[0085] ;

[0086] A triangularly stable structure is formed, and its critical buckling load is... satisfy:

[0087] ≥1.5 ;

[0088] In the formula, E represents the elastic modulus of the steel pipe (≥200GPa), I represents the moment of inertia of the section, and L represents the length of the diagonal brace. Indicates the maximum construction load (≥150kN);

[0089] 2. The moments of inertia I of the main diagonal brace 6 and the auxiliary diagonal brace 7 satisfy:

[0090] ;

[0091] In the formula, D0, D i This indicates the inner and outer diameters of the steel pipe.

[0092] 3. Welding strength of diagonal brace joints satisfy:

[0093] ;

[0094] In the formula, F represents the force at the node, D represents the diameter of the steel pipe, and T represents the effective thickness of the weld.

[0095] 4. The main body 2 of the guide frame and the adjustable support 1 are connected by high-strength bolts (second high-strength bolt 21), and the bolt preload T satisfies:

[0096] ;

[0097] In the formula, This indicates the bolt yield strength (≥640MPa). This indicates the effective cross-sectional area of ​​the bolt.

[0098] 5. When the four hydraulic cylinders are synchronized, the leveling speed v of a single hydraulic cylinder satisfies:

[0099] ≥5mm / s;

[0100] In the formula, Q represents the oil pump flow rate (≥10L / min), and A represents the cross-sectional area of ​​the oil cylinder (≥2000mm²).

[0101] After leveling, the flatness error Δh must meet the following requirements:

[0102] ≤2mm;

[0103] In the formula, Indicates the elevation of each support. This indicates the average elevation.

[0104] 6. The transmission efficiency η of the double pulley block 8 satisfies:

[0105] = * ≥85%;

[0106] In the formula, Indicates the number of pulleys ( =4).

[0107] 7. Lifting and lowering speed of catheter 16 With the flow rate of concrete Satisfying dynamic equilibrium:

[0108] ;

[0109] In the formula, =0.5-0.8 is a safety factor to prevent concrete segregation.

[0110] 8. The motor drive unit 12 has a built-in overload warning module. When the lifting resistance is ≥80% of the design value, it automatically reduces speed and triggers an audible and visual alarm; it also has a three-level seizure risk threshold.

[0111] ;

[0112] The control system 13 consists of a data acquisition unit, a data acquisition unit and a motor control unit connected in sequence;

[0113] The data acquisition unit is used to collect the height between the four corners of the guide frame body 2 and the ground, the real-time speed of the motor drive group 12, and the concrete liquid level height during the construction of the diaphragm wall 17 by using a laser level pre-configured on the adjustable support 1.

[0114] It should be noted that the laser level uses a high-precision laser displacement sensor, which is installed on the top of the four adjustable supports 1 or on the measuring points that are rigidly connected to the four corners of the guide frame body 2, to measure the distance of each support point relative to the reference ground.

[0115] The output speed of the motor drive unit 12 is acquired in real time by a speed sensor or encoder and converted into the actual lifting speed of the conduit 16. Specifically, a rotary encoder is installed on the output shaft of the motor drive unit 12 or at the wire rope drum. By measuring the number of pulses or analog signals per unit time, the real-time speed of the motor is accurately calculated and then converted into the lifting linear speed of the conduit 16.

[0116] During the construction of the diaphragm wall 17, the concrete liquid level can be continuously measured by installing level sensors (such as ultrasonic level gauges, radar level gauges, or pressure level gauges) near the conduit 16 or above the tank section.

[0117] The four-cylinder control unit is used to calculate the extension and retraction of each adjustable support 1 based on the height between the four corners of the main body 2 of the guide frame and the ground, through compensation correction and uncertainty correction analysis, and control the four cylinders to move synchronously to achieve leveling.

[0118] In a preferred embodiment, the four-cylinder control unit includes:

[0119] The attitude angle determination module is used to calculate the current roll angle and pitch angle of the jacket body 2 based on the height between the four corners of the jacket body 2 and the ground, and obtain the current attitude angle of the jacket body 2.

[0120] Specifically, laser levels pre-installed on the four adjustable supports 1 measure the vertical distance between the lower plane of the main body 2 of the guide frame and the ground at each support point in real time, and record them as follows: , , , Based on the structural geometry of the jacket body 2, the distance between two measuring points along the length direction (X-axis direction) of the body is set as... The distance between two measuring points along the width direction (Y-axis direction) of the jacket body 2 is The roll angle of the main body 2 of the jacket structure is then... (Rotation angle around the X-axis) and pitch angle The rotation angle around the Y-axis can be calculated using the following geometric relationships:

[0121] ;

[0122] ;

[0123] In the formula, the roll angle is... The pitch angle indicates the degree of inclination of the main body 2 of the duct support about its longitudinal axis (X-axis). This indicates the degree of inclination of the main body 2 of the guide frame around its transverse axis (Y-axis).

[0124] The extension / retraction increment calculation module is used to compare the current attitude angle of the jacket body 2 with the preset target horizontal attitude angle, obtain the attitude angle deviation of the jacket body 2, and calculate the expected cylinder extension / retraction increment based on the attitude angle deviation.

[0125] It should be noted that the attitude angle deviation of the jacket body 2 can be obtained by subtracting the current attitude angle of the jacket body 2 from the preset target horizontal attitude angle. .

[0126] Among them, in order to make the attitude angle deviation Approaching zero, based on the principles of automatic control, the required extension / retraction adjustment amount for each adjustable support 1 is calculated. Under a preliminary approximation neglecting system dynamic coupling, the desired increase in cylinder extension / retraction is... Design can be based on proportional control law:

[0127] ;

[0128] in, This is a proportional coefficient matrix, whose elements are pre-tuned according to the geometry and control gain requirements of the jacket body 2. This matrix maps the two-dimensional attitude angle deviation to the extension / retraction adjustment requirements of each of the four hydraulic cylinders.

[0129] The extension / retraction increment correction module is used to calculate the integral value of the attitude angle deviation, and by constructing an unknown system dynamics estimator, calculate the total error compensation amount, and add the total error compensation amount to the cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment.

[0130] In a preferred embodiment, the integral value of the attitude angle deviation is calculated, and the total error compensation is calculated by constructing an unknown system dynamics estimator. The total error compensation is then added to the cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment, which includes:

[0131] The attitude angle deviation is integrated to obtain the integral value of the attitude angle deviation;

[0132] Specifically, the attitude angle deviation integral value is obtained by integrating each component of the attitude angle deviation over time.

[0133] An unknown system dynamics estimator is constructed, and the uncertainty estimate is obtained through uncertainty dynamic estimation by using the current attitude angle of the jacket body 2 and the extension and retraction of the cylinder.

[0134] It should be noted that the unknown system dynamics estimator is an online disturbance observer based on invariant manifold theory and with a clear physical mapping relationship. Its core design idea is to separate the parts of the system dynamics that cannot be explained by the known model in real time through filtering and algebraic operations on measurable signals. Its working principle is as follows: The real-time acquired attitude angles of the jacket structure (state variables) and the extension / retraction commands output to each cylinder (control inputs) are processed by a first-order low-pass filter to obtain smoothed state filter values ​​and input filter values. Simultaneously, the pre-established nominal nonlinear dynamic function (describing the known dynamic characteristics of the system) is also processed by a low-pass filter with the same parameters to obtain a nominal dynamic filter value. Then, the difference between the current state and the state filter value is divided by the filter time constant by the algebraic operation unit to obtain an equivalent instantaneous rate of change estimate. The nominal dynamic filter value and the control action term composed of the control distribution function and the input filter value are then subtracted from this estimate. The resulting residual is the real-time estimate of the total uncertainty of the system at the current moment. The entire estimation process involves only addition, subtraction, multiplication, division, and filtering operations. Each step corresponds directly to a specific physical quantity (attitude angle, cylinder displacement, control command), and parameters such as filter time constant, nominal dynamic function, and control distributed function are all based on the actual physical characteristics of the system.

[0135] In a preferred embodiment, the construction of the unknown system dynamics estimator, and the use of the current attitude angle of the jacket body 2 and the extension / retraction of the cylinder, to obtain the uncertainty estimate through uncertain dynamic estimation, includes:

[0136] Establish a state equation with the attitude angle of the main body 2 of the jacket as the state variable and the extension and retraction of each adjustable support 1 as the control input;

[0137] It should be noted that the state variable is defined as the roll angle of the jacket body 2. and pitch angle That is, state variables The control input is the extension / retraction amount of the four adjustable supports 1. ,in, Indicates the first The elongation of each cylinder (relative to its initial position). Based on the dynamics of the hydraulic system and the kinematics of rigid bodies, the following state equations can be established:

[0138] ;

[0139] in, This represents unknown disturbances and unmodeled dynamics.

[0140] The state equations are transformed into standard affine nonlinear form, and the nominal nonlinear dynamic function and control distribution function are constructed.

[0141] It should be noted that the affine nonlinear form refers to the state derivative of a system that can be expressed as the sum of a nonlinear function that depends only on the state and a linear function that depends on both the state and the control input, i.e., satisfying... The structure of this transformation aims to separate the known dynamic characteristics of the system from the unknown perturbation components. Specifically, by analyzing the original state equations, the deterministic dynamic components that can be obtained through theoretical modeling or experimental identification are extracted, and a nominal nonlinear dynamic function is constructed. This function describes the inherent law of attitude angle change of the jacket body 2 in the absence of external disturbances and control inputs, such as attitude drift caused by factors such as leakage in the hydraulic system, mechanical friction, or elastic deformation of the structure. The establishment of the control distribution function is usually based on the dynamics principle of hydraulic systems, rigid body kinematic equations, and experimental data fitting. Then, by analyzing the influence mechanism of the extension and retraction of each adjustable support 1 on the attitude angle change rate of the jacket body 2, a control distribution function is constructed. The control distribution function is a The matrix (attitude angles are 2D, there are 4 cylinders), each element Indicates the first The unit extension / retraction of the first cylinder relative to the first The contribution coefficient of the attitude angle change rate. The establishment of the control distribution function needs to consider the geometric dimensions of the jacket body 2, the cylinder arrangement position, and the current attitude angle. Factors such as the transmission characteristics of the hydraulic system are usually obtained through kinematic analysis or Jacobian matrix solving.

[0142] After separating the known dynamic part from the original state equations, the remaining part (including modeling errors, parameter perturbations, external disturbances, etc.) is considered as the total uncertainty. Thus, the complete affine nonlinear form is obtained:

[0143] ;

[0144] in, and This is a known function used to construct subsequent filters; The unknown part to be estimated will be solved in real time using an unknown system dynamics estimator.

[0145] Construct first-order low-pass filters for the state variables and control inputs respectively to obtain the state filter value and the input filter value;

[0146] It should be noted that the current attitude angles (roll and pitch angles) of the jacket body 2 are used as state variables and filtered by a first-order low-pass filter to obtain state filtered values. These filtered values ​​reflect the low-frequency variation trend of the attitude angle signal, filtering out high-frequency noise interference, ensuring that the filtered signal accurately represents the dynamic attitude characteristics of the system. Simultaneously, the cylinder extension / retraction commands output to each adjustable support 1 at the current moment are used as control inputs and are also processed by a first-order low-pass filter to obtain input filtered values. These input filtered values ​​eliminate high-frequency jitter that may be introduced during control command transmission, ensuring that the input signal used for estimator calculations is smooth and reliable.

[0147] The cutoff frequency of the first-order low-pass filter is tuned based on the response bandwidth of the hydraulic system and the noise characteristics of the sensors, which can suppress high-frequency interference to the maximum extent while preserving the effective dynamic information of the system. The state filter value and input filter value obtained after filtering are used as input signals for the subsequent uncertainty estimator, laying the foundation for constructing the invariant manifold and algebraic solution.

[0148] Based on the state filter value, input filter value, nominal nonlinear dynamic function, and control distribution function, an unknown system dynamics estimator is constructed, and the uncertainty estimate is solved in real time through algebraic operations.

[0149] It should be noted that applying the same low-pass filtering process as the state variable to the nominal nonlinear dynamic function yields the nominal dynamic filter value. This nominal dynamic filter value reflects the nominal dynamic characteristics of the system's attitude angle changes in the absence of uncertainty and control input. The state variable, state filter value, input filter value, nominal dynamic filter value, and control distribution function are then input to the algebraic operation unit of the estimator. This estimator, constructed based on invariant manifold theory, can calculate the estimated value of the system's total uncertainty at the current moment in real time by solving a set of simple algebraic equations.

[0150] In the design of the dynamic estimator for the unknown system, the construction method based on invariant manifold theory achieves real-time solution of the total uncertainty through signal processing and algebraic operations, avoiding the complex calculations and convergence delays caused by the traditional observer's reliance on iterative solutions of differential equations. The specific implementation process is as follows:

[0151] In actual operation, the control system continuously acquires the current attitude angle (state variable) of the jacket structure and the extension / retraction commands (control input) output to each hydraulic cylinder. These two signals are fed into two identical first-order low-pass filters. These filters have the same cutoff frequency, ensuring that the filtered signals maintain consistency in phase and amplitude. Simultaneously, a pre-established nominal nonlinear dynamic function is also processed by a low-pass filter with identical parameters to obtain the nominal dynamic filtered value. Thus, three sets of synchronized and smooth signals are obtained: the original state variable, the state filtered value, the input filtered value, and the nominal dynamic filtered value.

[0152] The original state variable at the current moment is compared with the filtered state value, and the instantaneous difference between the two is calculated. This difference reflects the degree of deviation between the actual state change and the filtered trend within the most recent filtering time constant. Simultaneously, the estimator also considers the known nominal dynamic filter value and the control input filter value. By performing a simple algebraic combination of the state difference, the nominal dynamic filter value, and the control input filter value (multiplied by the known control distribution function), it is possible to separate out those parts that cannot be explained by the known model in real time.

[0153] Finally, the uncertainty estimate is directly calculated through this algebraic combination. The entire calculation process does not involve solving differential equations or iterative integration; it only relies on addition, subtraction, multiplication, and division operations based on the current sampled values ​​and the filter output values. This algebraic mechanism enables the estimator to quickly provide results within a control cycle, achieving real-time tracking of total uncertainty (including unmodeled dynamics, external disturbances, parameter changes, etc.). The obtained estimate is then used to compensate for control commands, actively offsetting the influence of unknown factors. This process is repeated in each control cycle to ensure that the estimate always reflects the latest system state changes, thereby achieving fast and accurate dynamic compensation for uncertainty.

[0154] Based on the integral value of the attitude angle deviation and the uncertainty estimate, the total error compensation is calculated and added to the expected cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment.

[0155] Specifically, based on the integral value of the attitude angle deviation and the uncertainty estimate, a total error compensation amount, including static and dynamic compensation, can be obtained through weighted fusion calculation. This total compensation amount comprehensively covers various adverse factors that the system needs to overcome during the leveling process. Finally, this total error compensation amount is superimposed with the initially calculated expected cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment.

[0156] The target extension / retraction determination module is used to calculate the target extension / retraction of each cylinder based on the corrected cylinder extension / retraction increment, combined with the real-time performance matrix of each adjustable support 1 and the preset weight matrix, using a weighted pseudo-inverse control allocation algorithm, and controlling the four cylinders to move synchronously to the target extension / retraction amount, so as to achieve automatic leveling of the guide frame body 2.

[0157] In a preferred embodiment, the step of calculating the target extension / retraction amount of each cylinder based on the corrected cylinder extension / retraction increment, combined with the real-time performance matrix of each adjustable support 1 and a preset weight matrix, using a weighted pseudo-inverse control allocation algorithm, and controlling the four cylinders to move synchronously to the target extension / retraction amount to achieve automatic leveling of the guide frame body 2 includes:

[0158] Based on the structural parameters of the jacket body 2 and the current position of each adjustable support 1, a real-time performance matrix is ​​constructed. The real-time performance matrix represents the mapping relationship between the unit extension increment of each adjustable support 1 and the rate of change of the roll angle and pitch angle of the jacket body 2.

[0159] It should be noted that the structural geometric parameters of the jacket main body 2 are obtained, including the main body length, width, and the installation position coordinates of each adjustable support 1 at the bottom of the main body. Simultaneously, the actual extension and retraction of each adjustable support 1 is collected in real time using displacement sensors, and the instantaneous spatial position of each support point relative to the geometric center of the main body is calculated in conjunction with the structural parameters. Based on this, according to the principles of rigid body kinematics, the influence of each hydraulic cylinder's individual action on the attitude angle of the jacket main body 2 is analyzed. Specifically, considering the... When an adjustable support 1 generates a unit expansion increment, the rate of change of the roll angle of the jacket body 2 about its longitudinal axis (X-axis) and the rate of change of the pitch angle about its transverse axis (Y-axis) are measured. This mapping relationship is affected by the current attitude of the body and the position of each support point, and needs to be calculated in real time.

[0160] The roll angle influence coefficient and pitch angle influence coefficient corresponding to the four adjustable supports 1 are combined in columns to form a... Real-time performance matrix Each column of this matrix corresponds to a hydraulic cylinder, and each row corresponds to a degree of freedom in the attitude angle. The element values ​​in the matrix are dynamically updated as the attitude of the jacket body 2 changes, ensuring that the efficiency matrix always accurately reflects the control efficiency distribution under the current operating conditions. The establishment of this matrix provides a precise input-output mapping relationship for subsequent control allocation.

[0161] Based on the stroke margin of each cylinder, a weight matrix is ​​preset to adjust the participation weight of each support in the control distribution.

[0162] Specifically, displacement sensors monitor the actual extension and retraction of the four adjustable supports 1 in real time, and combined with the maximum design stroke of each cylinder, calculate the remaining available stroke of each cylinder. Cylinders with smaller stroke margins indicate that they are approaching their mechanical limits, and their participation weight in the current control allocation should be appropriately reduced, with more adjustment tasks assigned to cylinders with larger stroke margins.

[0163] Based on the above travel leeway information, construct a... diagonal weight matrix Its diagonal elements Indicates the first The weighting coefficient of each adjustable support 1 in the current control allocation. The weighting coefficient can be set in the form of a piecewise function or a continuous function: when the cylinder stroke margin is sufficient, a larger weight is assigned; when the cylinder approaches the stroke limit, the weight gradually decreases to close to zero.

[0164] Based on the incremental weighted pseudo-inverse control allocation algorithm, the modified cylinder extension increment is used as the desired attitude change rate control command, and the extension increment of each cylinder is calculated by combining the real-time performance matrix and the weight matrix.

[0165] It should be noted that the incremental weighted pseudo-inverse control allocation algorithm is executed by a closed-loop control allocation module embedded in the controller. This module mainly comprises the following components in its physical structure:

[0166] The weight matrix memory is used to store and update the weight matrix of each adjustable support 1 in real time. The parameters of this matrix are not fixed, but are dynamically refreshed according to the stroke margin of each cylinder fed back by the displacement sensor in real time, through a preset weight allocation logic.

[0167] The performance matrix builder receives the structural parameters and current attitude angle signal of the jacket body 2, and calculates and generates the current performance matrix in real time.

[0168] The weighted pseudoinverse operator is the core logic processing hardware of the algorithm, specifically designed for performing operations such as matrix multiplication and pseudoinverse solving. It receives matrix data from the data storage unit and calculates the weighted performance matrix and its pseudoinverse matrix.

[0169] The control allocation solver receives the corrected cylinder extension / retraction increment command from the upper controller, combines it with the pseudo-inverse matrix obtained from the previous calculation, performs algebraic operations, and finally calculates the extension / retraction increment of each cylinder.

[0170] As a preferred embodiment, the incremental weighted pseudo-inverse control allocation algorithm, which uses the corrected cylinder extension / retraction increment as the desired attitude change rate control command, and combines the real-time performance matrix and weight matrix to calculate the extension / retraction increment of each cylinder, includes the following steps:

[0171] Construct a weighted performance matrix based on the real-time performance matrix and the preset weight matrix;

[0172] Specifically, constructing the weighted performance matrix essentially involves performing matrix multiplication between the inverse of the weight matrix and the real-time performance matrix. By scaling each column of the performance matrix, the contribution of cylinders with high control efficiency but low weights is reduced in the weighted matrix, while the contribution of cylinders with low control efficiency but high weights is relatively increased. Through this weighting process, subsequent pseudo-inverse operations can automatically favor cylinders with higher weights—that is, cylinders with sufficient stroke margin and good operating conditions—thus achieving intelligent allocation of cylinder workload while meeting control requirements.

[0173] The pseudo-inverse of the weighted efficiency matrix is ​​obtained by processing the pseudo-inverse.

[0174] It should be noted that the weighted efficiency matrix is ​​a... The matrix, where the number of rows is less than the number of columns, belongs to the form of an underdetermined system of equations. This indicates that multiple combinations of cylinder extension / retraction amounts can produce the same desired rate of attitude change, meaning that the control allocation has redundant solutions. The purpose of pseudo-inverse processing is to find a particular solution among all possible solutions that satisfies the minimum norm condition, such that the increment of cylinder extension / retraction is minimized under a certain metric.

[0175] The calculation of pseudoinverse matrices typically employs numerical methods, such as singular value decomposition or the Moore-Penrose pseudoinverse formula. For weighted efficiency matrices... Its pseudo-inverse matrix The pseudo-inverse matrix satisfies the following property: multiplying it by any desired attitude change rate vector yields a cylinder extension / retraction increment vector with the smallest Euclidean norm, meaning that the sum of the squares of the cylinder extension / retraction amounts is minimized among all feasible solutions. This property has significant engineering value: it implies that the system can achieve the desired attitude adjustment with minimal total motion, thereby saving energy, reducing mechanical wear, and avoiding unnecessary cylinder reciprocating motion. The result of calculating the pseudo-inverse matrix is... The matrix maps the two-dimensional space of the expected attitude change rate to the four-dimensional space of the cylinder extension / retraction increment.

[0176] The modified cylinder extension / retraction increment is used as the desired attitude change rate control command, and the extension / retraction increment of each cylinder is interpreted through a preset calculation formula.

[0177] Specifically, the increased extension / retraction amount of the corrected hydraulic cylinder This is the desired attitude rate of change control command. The command is a two-dimensional vector, whose two components represent the desired roll rate of change and pitch rate of change of the system within the current control cycle, respectively.

[0178] Using a preset solution formula The calculation is performed. The calculation process of this formula can be divided into two steps: first, the desired rate of attitude change is calculated... With the obtained pseudo-inverse matrix Multiplying these yields a preliminary set of scaling increments, which are solutions satisfying the minimum norm condition in the weighted space; this preliminary result is then multiplied by the inverse of the weight matrix. Multiplying these values ​​restores the weighted space to the actual physical space, ultimately yielding the actual increase in the extension / retraction of each cylinder. .

[0179] The target extension amount is obtained by adding the extension increment of each cylinder to the current actual extension amount, and the four cylinders are controlled to move synchronously based on the target extension amount to achieve automatic leveling of the main body 2 of the guide frame.

[0180] The motor control unit is used to adjust the output speed of the motor drive group 12 according to the concrete liquid level and the real-time speed of the motor drive group 12, so as to control the lifting speed of the guide tube 16.

[0181] In a preferred embodiment, the motor control unit includes:

[0182] The data calculation module is used to obtain the concrete liquid level height at different time periods, calculate the concrete liquid level height change rate, and determine the expected lifting and lowering speed of the guide tube 16 based on the concrete liquid level height change rate.

[0183] It should be noted that during the concrete pouring process of the diaphragm wall 17, the liquid level continuously rises as concrete is continuously poured into the trench. To ensure that the burial depth of the guide pipe 16 remains within a reasonable range, the guide pipe needs to be raised synchronously according to the rate of increase in the liquid level. Real-time data on the concrete liquid level height at different times is collected using a liquid level sensor, and the collected height sequence is processed to calculate the rate of change of the liquid level height over time. This rate of change reflects the speed of concrete pouring and directly determines the rate at which the guide pipe needs to be raised.

[0184] The speed tracking error calculation module is used to collect the real-time rotational speed of the motor drive group 12 as the actual lifting speed of the guide tube 16, and calculate the speed tracking error between the expected lifting speed and the actual lifting speed.

[0185] It should be noted that the speed tracking error can be calculated by subtracting the expected lift-off speed from the actual lift-off speed.

[0186] The preset time sliding mode control law establishment module is used to construct a preset time sliding mode surface containing velocity tracking error based on the preset time stability theory, and to establish a preset time sliding mode control law that enables the velocity tracking error to converge to zero within a preset time.

[0187] It should be noted that the pre-defined time stability is a further extension of the traditional finite-time stability and fixed-time stability theories. Specifically, for nonlinear systems... t represents time, if its origin is globally asymptotically stable, and there exists a constant that can be preset by the user. This makes any solution of the system All in time It converges inward to the equilibrium point, that is... If so, the system is said to be time-stable. Known as the preset time, it is entirely specified in advance by the designer according to engineering requirements and is independent of the system's initial state and controller parameters.

[0188] As a preferred embodiment, the step of constructing a preset time sliding surface containing velocity tracking error based on a preset time stability theory, and establishing a preset time sliding mode control law that enables the velocity tracking error to converge to zero within a preset time includes:

[0189] Based on the speed tracking error between the expected and actual lifting speeds, a time convergence compensation term is calculated, and a preset time sliding surface is constructed based on the combination of the speed tracking error and the time convergence compensation term.

[0190] It should be noted that the convergence compensation term is calculated based on the Lyapunov function construction method of the pre-defined time-stability theory, and its function is to guide the error to converge according to the pre-defined dynamic trajectory. Time convergence compensation term. Includes preset time parameters This parameter can be directly set by the user according to process requirements (e.g., requiring the error to converge within 2 seconds). It tracks the speed error. With time convergence compensation term Perform linear combination to construct a preset time sliding surface The preset time sliding surface comprehensively reflects the current error state and the preset convergence dynamics. When the state is located on the sliding surface (i.e., ),error It will naturally converge to zero according to the preset time pattern.

[0191] Time convergence compensation term The expression is:

[0192] ;

[0193] In the formula, π represents pi, e represents the speed tracking error, i.e., the deviation between the desired and actual lifting speeds, and T1 is a preset time parameter, usually in seconds. It represents the desired speed tracking error. The time required for the sliding surface to converge to zero. This represents the exponential parameter, and its value range is typically 1000. This is used to adjust the degree of nonlinearity in the convergence speed, affecting the convergence characteristics when the error approaches zero. This represents the weight parameter, a positive real number. It is related to the weight parameter... The coordination is used to balance the intensity of different nonlinear components in the compensation term.

[0194] The dynamic characteristic equation of the sliding surface is obtained by differentiating the sliding surface over a preset time, and a preset time approach law is constructed based on the preset time stability theory so that the sliding surface can converge to zero within a preset time.

[0195] In a preferred embodiment, the step of differentiating the sliding surface over a preset time to obtain the dynamic characteristic equation of the sliding surface, and constructing a preset time-reaching law based on a preset time stability theory, so that the sliding surface can converge to zero within a preset time includes:

[0196] By taking the first derivative of the preset time sliding surface, the dynamic characteristic equation of the sliding surface is obtained;

[0197] Based on the dynamic characteristic equation of the sliding surface and combined with the preset time stability theory, an equation relationship is established between the derivative of the sliding surface and the preset time approaching term;

[0198] It should be noted that, based on the preset time stability theory, a system is constructed that enables the sliding surface to stabilize within a preset time. A pre-defined time-approaching law for convergence to zero. Specifically, this is achieved by establishing the sliding surface derivative. approximation term with preset time The equations between them allow us to define the dynamic characteristic equation of the sliding surface. This combines the dynamic behavior of the sliding surface with a preset time convergence requirement. The approach term... The design also includes preset time parameters. Adjustable convergence performance parameters ensure that the sliding surface can converge within a preset time, starting from any initial value. It converges to zero.

[0199] By proposing an equation relating the derivative of the sliding surface to the preset time-approaching term, a preset time-approaching law is determined that enables the sliding surface to converge to zero within a preset time.

[0200] It is important to note that establishing the equation between the sliding surface derivative and the preset time convergence term is the core step in ensuring preset time convergence characteristics. This aims to transform the user's expectation of convergence time into a mathematical constraint on the dynamic behavior of the sliding surface, thus providing a basis for the subsequent derivation of the control law. Specifically, the sliding surface derivative describes the rate of change of the sliding surface with time, reflecting the trend and degree of deviation of the current system state from the sliding surface. By analyzing the changing pattern of the sliding surface derivative, it is possible to determine whether the state is approaching or moving away from the sliding surface, and the speed of this approach or departure. This characteristic of the sliding surface derivative makes it a key control object in designing the convergence law. The preset time convergence term is a nonlinear function constructed based on preset time stability theory. Its function is to define a desired dynamic trajectory for the change of the sliding surface derivative. The design of this convergence term includes a user-defined preset time parameter, ensuring that when the sliding surface derivative follows the changing pattern of this convergence term, the sliding surface can converge from any initial value to zero within a specified time. Specifically, the approaching term generates a large approaching rate when the sliding surface is far from zero, causing the system to move rapidly toward the sliding surface; when the sliding surface is close to zero, the approaching term gradually reduces the approaching rate to avoid chattering and ensure a smooth and stable convergence process.

[0201] Establishing an equation between the sliding surface derivative and the preset time-approaching term involves setting the sliding surface derivative equal to the negative preset time-approaching term, ensuring that the changes in the sliding surface strictly follow a preset time pattern. This equation directly embeds the user's convergence time requirement into the system's dynamic equations, becoming the fundamental constraint for subsequent derivation of the control law.

[0202] Based on the preset time convergence law and combined with the dynamic characteristic equation of the sliding surface, the basic form of the preset time sliding control law is determined so that the speed tracking error can converge to zero along the sliding surface within the preset time.

[0203] Specifically, after constructing the preset time sliding surface and the preset time convergence law, the two need to be organically combined to derive the final control law expression acting on the motor drive group. After establishing the above equation relationship, the specific expression of the control input can be solved through mathematical derivation. This derivation process makes full use of the known information in the dynamic characteristic equation of the sliding surface, including the speed tracking error, the rate of change of the time convergence compensation term, and the nominal dynamics of the motor drive group 12. The derived control law consists of several parts: one part counteracts the known dynamics of the motor drive group 12, enabling it to move along the sliding surface; another part implements the preset time convergence law, ensuring the sliding surface converges according to a preset time rule. The determined preset time sliding control law has a clear physical function: when the state of the motor drive group 12 deviates from the sliding surface, the control law generates a corresponding control action, driving the motor drive group 12 towards the sliding surface, with the speed of movement strictly following the preset time convergence law; when the state of the motor drive group 12 reaches the sliding surface, the control law maintains the motor drive group 12 sliding on the sliding surface, allowing the speed tracking error to naturally decay to zero according to the trajectory guided by the preset time convergence term. The entire process is divided into two stages: the arrival stage and the sliding stage. In the arrival stage, the sliding surface itself converges to zero under the action of the preset time convergence law; in the sliding stage, the speed tracking error converges to zero along the sliding surface under the guidance of the preset time parameter. The total convergence time of the two stages is the total preset time set by the user.

[0204] The output speed calculation module is used to determine the output speed of the motor drive group 12 according to the preset time sliding mode control law.

[0205] It should be noted that the process of determining the output speed of the motor drive unit based on the preset time sliding mode control law involves converting the theoretically calculated control quantity into an actual physical command. The output of this control law is essentially the equivalent control force or torque required to achieve the desired acceleration in the guide tube 16, but the motor driver can directly execute the speed command. Therefore, it is necessary to perform a conversion based on the physical parameters of the transmission system: obtaining the desired acceleration adjustment amount through the control law calculation results, and then converting the acceleration requirement into an incremental change in motor speed based on parameters such as the drum diameter, wire rope transmission ratio, and motor torque constant. The converted speed command is sent to the control port of the motor driver via a digital-to-analog converter module or fieldbus communication. The driver adjusts the motor's power supply frequency or voltage in real time according to the command, thereby precisely controlling the motor's output speed.

[0206] In summary, the electrically driven jacket and its usage method proposed in this invention overcome the technical shortcomings of traditional jackets, providing a reliable guarantee for high-quality concrete pouring of diaphragm walls. Compared with traditional processes, this invention has the advantages shown in Table 1:

[0207] Table 1. Advantages of this invention compared to traditional processes

[0208] like Figure 7 As shown, according to another embodiment of the present invention, a method for using an electrically driven guide frame for diaphragm wall concrete pouring is provided, the method comprising the following steps:

[0209] S1. Assemble the electrically driven jacket for concrete pouring of the diaphragm wall 17, and use the single-point hoisting method to hoist the electrically driven jacket to the preset area.

[0210] Specifically, first, the main diagonal brace 6 is bolted to the main upright 4, then the main upright 4 is connected to the jacket frame body 2 using a flange (flange structure 19), and finally the main diagonal brace 6 is bolted to the jacket frame body 2. After assembly, check whether the connection status of each connection point meets the requirements.

[0211] After the diaphragm wall reinforcement cage is lowered, the electric-driven guide frame is lifted by a crane to the top of the diaphragm wall 17. After the diaphragm wall reinforcement cage is lowered, the single-point lifting method is used to lift the electric-driven guide frame as a whole to the top of the diaphragm wall 17 section through the lifting hole 14 (the lifting hole 14 is installed at the top center of the vertical main pole 4). During the lifting process, the tension difference of the lifting rope is monitored in real time, and the lifting tilt angle is controlled to be ≤2° and the safety factor of the lifting rope is ≥8.

[0212] S2. The electric-driven guide frame is leveled based on the control system, and the guide 16 is installed.

[0213] It should be noted that the leveling is performed in two stages using control system 13 and the theodolite:

[0214] Coarse adjustment stage: Synchronous adjustment of four hydraulic cylinders, with a single hydraulic cylinder stroke speed ≥10mm / s;

[0215] Fine-tuning stage: Fine-tune the hydraulic cylinder step by step ≤0.5mm / time until the plane error is satisfied.

[0216] Among them, the installation and sealing verification of the graded conduit 16 with a diameter of not less than 250mm adopts modular conduit group (diameter ≥ 250mm, wall thickness ≥ 10mm), and a check valve is installed at the end; the connection of conduit 16 adopts flange bolt fastening (first high-strength bolt 20), the bolt pre-tightening torque is ≥ 300N·m, and an air tightness test (pressure ≥ 0.6Mpa) is carried out before installation, and there is no leakage after holding the pressure for 5 minutes.

[0217] S3. Use conduit 16 to perform air lift reverse circulation slag removal and concrete pouring.

[0218] It should be noted that the air-lift reverse circulation sludge removal is carried out using the conduit 16. The air-lift reverse circulation sludge removal is carried out through the conduit 16. The air compressor output pressure is ≥0.8MPa, the air-water mixing ratio is 1:3, and the sludge removal efficiency meets the requirements. After the sludge removal is completed, the thickness of the sediment is detected by an ultrasonic thickness gauge and controlled to be ≤30mm (according to JGJ / T303-2023 standard).

[0219] Among them, air lift reverse circulation sludge removal is implemented through conduit 16, the air compressor output pressure is ≥0.8MPa, the air-water mixing ratio is 1:3 and the sludge removal efficiency is controlled as follows: after the sludge removal is completed, the sludge thickness S is detected by an ultrasonic thickness gauge and the sludge thickness is controlled to be ≤30mm (according to JGJ / T 303-2023 standard).

[0220] ;

[0221] In the formula, This indicates the initial sediment thickness (≤200mm). denoted by , where t represents the slag removal efficiency coefficient and t represents the slag removal time.

[0222] S4. During the concrete pouring process, the concrete level is obtained, and the control system is used to control the lifting and lowering of the guide pipe 16 until the concrete pouring is completed.

[0223] It should be noted that during concrete pouring, the guide pipe is moved slowly up and down using an electrically driven lifting system to prevent it from seizing. The rise in concrete level is used to determine whether the guide pipe needs to be removed. For guide pipe sections of 16mm diameter, which are 2.5m long, the guide pipe should be inserted approximately 2-6m into the concrete. Too shallow insertion may cause the concrete to tumble and mix with surface sediment, negatively impacting quality; too deep insertion results in excessive concrete pressure, hindering pouring. During initial pouring, the guide pipe depth should be ≥1.5m, the concrete slump should be controlled at 180±20mm, and the pouring speed should be 3-5m / s. 3 / h;

[0224] By monitoring the concrete liquid level in real time (sampling interval ≤ 30s), the lifting speed of the guide pipe 16 is adjusted by the electric lifting system 12 (0.3-0.8m / min), and the burial depth of the guide pipe 16 is controlled at 2-6m during concrete pouring.

[0225] Specifically, during the initial pouring, the tremie pipe should be buried at a depth of ≥1.5m, the concrete slump should be controlled at 180±20mm, and the pouring speed should be 3-5m / s. 3 / h.

[0226] Real-time control of catheter burial depth H satisfies:

[0227] ;

[0228] The initial burial depth (≥1.5m) The rising speed of the concrete liquid surface (3-5m / h).

[0229] S5. After the concrete pouring is completed, remove the guide pipe 16 and hoist out the electric drive guide pipe frame;

[0230] Specifically, after the concrete pouring is completed, the guide pipe 16 is removed. The guide pipe 16 is removed in 2.5m sections, and the burial depth deviation is measured to be ≤±0.3m before removal. After removal, the guide pipe frame is lifted out.

[0231] S6. Disassemble the electrically driven jacket after it has been lifted out.

[0232] Specifically, in order to facilitate the storage of the jacket frame, after the diaphragm wall 17 is constructed, the connection points between the auxiliary diagonal brace 6 and the main body 2 of the jacket frame are removed in sequence, then the connection points between the main upright 4 and the jacket frame 2 are removed, and finally the connection points between the auxiliary diagonal brace 6 and the main upright 4 are removed.

[0233] 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, optical storage, etc.) containing computer-usable program code.

[0234] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An electrically driven guide frame for concrete pouring of diaphragm walls, characterized in that, include: The main frame system consists of the jacket structure (2), the standing platform (3), the vertical main uprights (4), the horizontal main uprights (5), the main diagonal bracing (6), and the auxiliary diagonal bracing (7); The hydraulic leveling system consists of several adjustable supports (1), and the adjustable supports (1) adopt a four-cylinder synchronous hydraulic leveling mechanism. The electric drive lifting system consists of a pulley block (8), a wire rope (9), a hook block (10), a motor switch (11), and a motor drive block (12). The electric drive lifting system is used to lift the conduit (16) through the hook block (10) and to adjust the lifting speed of the conduit (16) through the motor drive block (12). The control system (13) consists of a data acquisition unit, a data acquisition unit and a motor control unit connected in sequence; The data acquisition unit is used to collect the height between the four corners of the guide frame body (2) and the ground, the real-time speed of the motor drive group (12), and the height of the concrete liquid level during the construction of the diaphragm wall by using a laser level pre-configured on the adjustable support (1). The four-cylinder control unit is used to calculate the extension and retraction of each adjustable support (1) based on the height between the four corners of the main body (2) and the ground, through compensation correction and uncertainty correction analysis, and control the four cylinders to move synchronously to achieve leveling. The motor control unit is used to adjust the output speed of the motor drive group (12) according to the concrete liquid level and the real-time speed of the motor drive group (12) to control the lifting speed of the guide tube (16).

2. The electrically driven guide frame for diaphragm wall concrete pouring according to claim 1, characterized in that, The four-cylinder control unit includes: The attitude angle determination module is used to calculate the current roll angle and pitch angle of the jacket body (2) based on the height between the four corners of the jacket body (2) and the ground, and obtain the current attitude angle of the jacket body (2); The extension / retraction increment calculation module is used to compare the current attitude angle of the jacket body (2) with the preset target horizontal attitude angle, obtain the attitude angle deviation of the jacket body (2), and calculate the expected cylinder extension / retraction increment based on the attitude angle deviation. The extension / retraction increment correction module is used to calculate the integral value of the attitude angle deviation, and by constructing an unknown system dynamics estimator, calculate the total error compensation amount, and add the total error compensation amount to the cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment. The target extension amount determination module is used to calculate the target extension amount of each cylinder based on the corrected cylinder extension amount increment, combined with the real-time performance matrix of each adjustable support (1) and the preset weight matrix, using a weighted pseudo-inverse control allocation algorithm, and control the four cylinders to move synchronously to the target extension amount, so as to realize the automatic leveling of the guide frame body (2).

3. An electrically driven guide frame for diaphragm wall concrete pouring according to claim 2, characterized in that, The integral value of the attitude angle deviation is calculated, and the total error compensation is calculated by constructing an unknown system dynamics estimator. The total error compensation is added to the cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment, which includes: The attitude angle deviation is integrated to obtain the integral value of the attitude angle deviation; An unknown system dynamics estimator is constructed, and the uncertainty estimate is obtained by using the current attitude angle of the jacket body (2) and the extension and retraction of the cylinder through uncertainty dynamic estimation. Based on the integral value of the attitude angle deviation and the uncertainty estimate, the total error compensation is calculated and added to the expected cylinder extension / retraction increment to obtain the corrected cylinder extension / retraction increment.

4. An electrically driven guide frame for diaphragm wall concrete pouring according to claim 3, characterized in that, The construction of the unknown system dynamics estimator, and the use of the current attitude angle of the jacket body (2) and the extension and retraction of the cylinder, to obtain the uncertainty estimate through uncertainty dynamic estimation, includes: Establish a state equation with the attitude angle of the main body of the jacket (2) as the state variable and the extension and retraction of each adjustable support (1) as the control input; The state equations are transformed into standard affine nonlinear form, and the nominal nonlinear dynamic function and control distribution function are constructed. Construct first-order low-pass filters for the state variables and control inputs respectively to obtain the state filter value and the input filter value; Based on the state filter value, input filter value, nominal nonlinear dynamic function, and control distribution function, an unknown system dynamics estimator is constructed, and the uncertainty estimate is solved in real time through algebraic operations.

5. An electrically driven guide frame for concrete pouring of diaphragm walls according to claim 2, characterized in that, The step of calculating the target extension of each cylinder based on the corrected cylinder extension increment, combined with the real-time performance matrix of each adjustable support (1) and the preset weight matrix, and controlling the four cylinders to move synchronously to the target extension to achieve automatic leveling of the guide frame body (2) includes: Based on the structural parameters of the jacket body (2) and the current position of each adjustable support (1), a real-time performance matrix is ​​constructed. The real-time performance matrix represents the mapping relationship between the unit extension increment of each adjustable support (1) and the rate of change of the roll angle and pitch angle of the jacket body (2). Based on the stroke margin of each cylinder, a weight matrix is ​​preset to adjust the participation weight of each support in the control distribution. Based on the incremental weighted pseudo-inverse control allocation algorithm, the modified cylinder extension increment is used as the desired attitude change rate control command, and the extension increment of each cylinder is calculated by combining the real-time performance matrix and the weight matrix. The extension and retraction increment of each cylinder is added to the current actual extension and retraction to obtain the target extension and retraction. Based on the target extension and retraction, the four cylinders are controlled to move synchronously to achieve automatic leveling of the main body (2) of the guide frame.

6. An electrically driven guide frame for concrete pouring of diaphragm walls according to claim 5, characterized in that, The incremental weighted pseudo-inverse control allocation algorithm uses the corrected cylinder extension / retraction increment as the desired attitude change rate control command, and combines the real-time performance matrix and weight matrix to calculate the extension / retraction increment of each cylinder, including the following steps: Construct a weighted performance matrix based on the real-time performance matrix and the preset weight matrix; The pseudo-inverse of the weighted efficiency matrix is ​​obtained by processing the pseudo-inverse. The modified cylinder extension / retraction increment is used as the desired attitude change rate control command, and the extension / retraction increment of each cylinder is interpreted through a preset calculation formula.

7. An electrically driven guide frame for concrete pouring of diaphragm walls according to claim 1, characterized in that, The motor control unit includes: The data calculation module is used to obtain the concrete liquid level height at different time periods, calculate the concrete liquid level height change rate, and determine the expected lifting speed of the guide pipe (16) based on the concrete liquid level height change rate. The speed tracking error calculation module is used to collect the real-time rotation speed of the motor drive group (12) as the actual lifting speed of the guide tube (16) and calculate the speed tracking error between the expected lifting speed and the actual lifting speed. The preset time sliding mode control law establishment module is used to construct a preset time sliding mode surface containing velocity tracking error based on the preset time stability theory, and to establish a preset time sliding mode control law that enables the velocity tracking error to converge to zero within a preset time. The output speed calculation module is used to determine the output speed of the motor drive group (12) according to the preset time sliding mode control law.

8. An electrically driven guide frame for diaphragm wall concrete pouring according to claim 7, characterized in that, The process of constructing a preset time sliding surface containing velocity tracking error based on a preset time stability theory, and establishing a preset time sliding mode control law that enables the velocity tracking error to converge to zero within a preset time, includes: Based on the speed tracking error between the expected and actual lifting speeds, a time convergence compensation term is calculated, and a preset time sliding surface is constructed based on the combination of the speed tracking error and the time convergence compensation term. The dynamic characteristic equation of the sliding surface is obtained by differentiating the sliding surface over a preset time, and a preset time approach law is constructed based on the preset time stability theory so that the sliding surface can converge to zero within a preset time. Based on the preset time convergence law and combined with the dynamic characteristic equation of the sliding surface, the basic form of the preset time sliding control law is determined so that the speed tracking error can converge to zero along the sliding surface within the preset time.

9. An electrically driven guide frame for concrete pouring of diaphragm walls according to claim 8, characterized in that, The step of differentiating the sliding surface over a preset time period to obtain the dynamic characteristic equation of the sliding surface, and constructing a preset time-reaching law based on the preset time stability theory, so that the sliding surface can converge to zero within a preset time period includes: By taking the first derivative of the preset time sliding surface, the dynamic characteristic equation of the sliding surface is obtained; Based on the dynamic characteristic equation of the sliding surface and combined with the preset time stability theory, an equation relationship is established between the derivative of the sliding surface and the preset time approaching term; By proposing an equation relating the derivative of the sliding surface to the preset time-approaching term, a preset time-approaching law is determined that enables the sliding surface to converge to zero within a preset time.

10. A method of using an electrically driven jacket for diaphragm wall concrete pouring, for implementing the use of the electrically driven jacket for diaphragm wall concrete pouring as described in any one of claims 1-9, characterized in that, The usage method includes the following steps: S1. Assemble the electric-driven guide frame for concrete pouring of diaphragm wall (17) and use the single-point hoisting method to hoist the electric-driven guide frame to the preset area. S2. The electric drive cable tray is leveled based on the control system and the cable tray is installed (16). S3. Use the conduit (16) for air lift reverse circulation slag removal and concrete pouring. S4. During the concrete pouring process, the concrete liquid level is obtained, and the control system is used to control the lifting and lowering of the guide pipe (16) until the concrete pouring is completed. S5. After the concrete is poured, remove the guide pipe (16) and lift out the electric drive guide pipe frame. S6. Disassemble the electrically driven jacket after it has been lifted out.

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