Pump station pipe jacking crossing different stratum control optimization system and method based on dynamic identification of geological parameters

Abstract

The application discloses a pump station pipe jacking crossing different stratum control optimization system and method based on geological parameter dynamic identification, comprising: a parameter acquisition module, which acquires pipe jacking construction working condition parameters in real time; a parameter identification module, which inverses and dynamically updates stratum key characteristic parameters based on a geology-mechanics relation model; a strategy optimization module, which matches construction control parameters from a control strategy library according to stratum parameters; and an equipment execution module, which adaptively adjusts jacking speed, slurry chamber pressure and thixotropic mud grouting amount. The slurry chamber pressure control unit according to the application calculates active earth pressure and passive earth pressure in real time according to dynamically identified stratum bulk density, internal friction angle, cohesion and pipe burial depth, according to the Rankine earth pressure theory, controls the target slurry chamber pressure set value between the active earth pressure and the passive earth pressure, realizes accurate balance of the excavation face earth pressure, effectively controls the surface settlement, and solves the problems of abnormal jacking force and settlement overrun caused by geological mutation in the pipe jacking construction of the composite stratum.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a control and optimization system and method for pump station pipe jacking crossing different strata based on dynamic identification of geological parameters. Background Technology

[0002] In pumping station intake projects, pipe jacking often needs to traverse rivers, embankments, and complex geological conditions, such as moving from soft soil layers (silty clay, gravel and pebbles) into hard rock layers (weakly weathered limestone). Existing pipe jacking construction control systems typically use constant parameters or manually preset parameters in segments for jacking. The slurry chamber pressure is generally set based on empirical values ​​or adjusted with lag only based on surface monitoring data. It is impossible to dynamically calculate active and passive earth pressures based on real-time identified stratum parameters, leading to an imbalance of earth pressure at the excavation face, causing excessive surface settlement or even collapse accidents. On the other hand, the control of jacking speed relies heavily on the operator's experience. When geological conditions change suddenly (such as moving from gravel and pebbles into weakly weathered limestone), the preset jacking speed cannot respond in time, which may cause the jacking force to surge instantaneously, exceeding the allowable jacking force of the pipe or back wall, leading to major safety accidents such as pipe section rupture and equipment jamming. Summary of the Invention

[0003] The purpose of this invention is to provide a control and optimization system and method for pump station pipe jacking crossing different strata based on dynamic identification of geological parameters, which effectively solves the technical problems of abnormal jacking force and excessive ground settlement caused by geological changes in the prior art.

[0004] In a first aspect, the present invention provides a control and optimization system for pump station pipe jacking crossing different strata based on dynamic identification of geological parameters, the system specifically comprising: The parameter acquisition module is used to collect working parameters in real time during the pipe jacking construction process; The parameter identification module is used to calculate the key geological feature parameters corresponding to the current jacking position based on the working condition parameters and the geological-mechanical relationship model, and to dynamically update the key geological feature parameters according to the jacking progress. The strategy optimization module is used to match and calculate construction control parameters in real time from a preset control strategy library based on the key feature parameters of the strata. The equipment execution module is used to adaptively adjust the jacking speed, slurry chamber pressure, and thixotropic slurry injection volume of the on-site construction equipment according to the construction control parameters.

[0005] In a preferred embodiment, the operating parameters include at least the jacking force of the main jacking cylinder, the cutterhead torque, the jacking speed, the slurry chamber pressure, the slurry inlet flow rate, the slurry outlet flow rate, and the attitude parameters of the pipe jacking machine.

[0006] In a preferred embodiment, the key formation characteristic parameters include at least the average frictional resistance between the pipe and soil / rock, the uniaxial compressive strength of the rock, and the formation machinability index.

[0007] In a preferred embodiment, the construction control parameters include at least the target jacking speed, the target slurry chamber pressure setting, the grouting volume, and the single correction angle.

[0008] In a preferred embodiment, the parameter identification module includes a total jacking force decomposition unit, a frictional resistance identification unit, and a lithology identification unit; the total jacking force decomposition unit is used to decompose the real-time total jacking force into cutterhead face resistance and pipe wall frictional resistance, satisfying: F=F0+F f Where F is the real-time total thrust; F0 is the cutterhead frontal resistance; F f This refers to the frictional resistance of the pipe wall. The cutterhead frontal resistance is the ground resistance experienced by the cutterhead of the pipe jacking machine. It is dynamically estimated based on the cutterhead torque, cutterhead rotation speed, jacking speed, and slurry chamber pressure. The calculation of the frontal resistance also involves the cutterhead cross-sectional area and calibration coefficient. The friction resistance identification unit is used to calculate the current average pipe-soil / rock friction resistance based on the pipe wall friction resistance, the current pipe outer diameter, and the jacking length, according to the following formula: F f =π·D·L·f; where F f is the pipe wall friction resistance; D is the current pipe outer diameter; L is the jacking length; f is the average pipe-soil / rock friction resistance; The lithology identification unit, when determining that the current formation is rocky, dynamically identifies the uniaxial compressive strength and machinability index of the rock based on the cutterhead torque, cutterhead rotation speed, and jacking speed, according to the following formula: T=α·R c ·δ·R cutter ·K c Where T is the cutter head torque; α is the cutter head cutting ratio coefficient, which is dimensionless; R cutter R is the radius of the cutter head; c δ represents the uniaxial compressive strength of the rock; δ is the cutting depth per revolution of the cutterhead, satisfying δ=v / n, where v is the jacking speed and n is the cutterhead rotation speed; K c The formation machinability index reflects the ease with which rocks can be cut by cutting tools.

[0009] As a preferred embodiment, the process of dynamically updating key formation characteristic parameters includes: when the pipe jacking machine is determined to be in a sandy gravel or cohesive soil layer based on real-time operating parameters, the average frictional resistance between the pipe and soil / rock is calculated and updated in real time according to the output of the total jacking force decomposition unit and the frictional resistance identification unit; when the pipe jacking machine is determined to be cutting into a weakly weathered limestone layer based on real-time operating parameters, the uniaxial compressive strength of the rock and the formation cutability index are calculated and updated in real time according to the output of the lithology identification unit.

[0010] In a preferred embodiment, the strategy optimization module includes a jacking speed optimization unit, a slurry chamber pressure control unit, and a correction angle calculation unit. The jacking speed optimization unit includes a speed-load adaptive rule that automatically lowers the target jacking speed to the corresponding preset level when the identified average frictional resistance between the pipe and soil / rock exceeds a preset first frictional resistance threshold, or the uniaxial compressive strength of the rock exceeds a strength threshold, or the cutterhead torque exceeds a preset torque threshold. The slurry chamber pressure control unit automatically calculates and sets the slurry chamber pressure based on the formation type and dynamically identified soil parameters, maintaining it between active and passive earth pressure, satisfying: P a <P c,target <P p Among them, P a The active earth pressure at the current jacking position is calculated based on dynamically identified formation unit weight, internal friction angle, and pipeline burial depth; P c,target Set the target slurry chamber pressure value; P p The passive earth pressure at the current jacking position is calculated based on the dynamically identified stratum unit weight, internal friction angle, and pipeline burial depth. The correction angle calculation unit follows the principle of "small angle, continuous correction," and calculates the single correction angle based on the larger of the horizontal and vertical deviations between the real-time posture of the pipe jacking machine and the design axis, satisfying: Δθ=min(k·Δd,Δθ) max ); where Δθ is the single correction angle, which is the single adjustment angle of the pipe jacking machine around the vertical or horizontal axis; k is the correction ratio coefficient, dimensionless, pre-calibrated according to the pipe jacking machine model, pipe diameter, and geological characteristics; Δd is the deviation between the real-time attitude of the pipe jacking machine and the design axis, taking the larger of the absolute values ​​of the horizontal and vertical deviations; Δθ max The maximum allowable single correction angle is preset based on the pipe material, interface type, and ground stability.

[0011] In a preferred embodiment, the device execution module includes: The control and execution unit is used to control the jacking force and stroke of the main jacking cylinder according to the target jacking speed and target jacking force; The regulating actuator is used to adjust the slurry inlet flow rate and slurry outlet flow rate according to the target slurry tank pressure setpoint. The grouting execution unit is used to inject thixotropic mud into the pipe periphery according to the grouting volume of thixotropic mud. The correction actuator is used to control the extension combination of the correction cylinder according to the single correction angle.

[0012] As a preferred embodiment, the adaptive adjustment of the jacking speed, slurry chamber pressure, and thixotropic slurry injection volume of the on-site construction equipment includes: adjusting the jacking speed by lowering the target jacking speed from the normal speed setting to the first low speed setting when the identified average frictional resistance between the pipe and soil / rock exceeds a preset first frictional resistance threshold; adjusting the target jacking speed to the second low speed setting when the identified uniaxial compressive strength of the rock exceeds a strength threshold, indicating entry into hard rock formation; and gradually increasing the target jacking speed back to the normal speed setting when the corresponding parameters return to the normal range; the slurry chamber pressure includes... The system includes real-time back-calculation of active and passive earth pressures based on geological type, dynamically identified average frictional resistance between pipe and soil / rock, and pipe burial depth, and updates the target slurry chamber pressure setting accordingly. The thixotropic mud injection volume includes determining mud sleeve failure and automatically triggering a grouting command when the identified average frictional resistance between pipe and soil / rock exceeds a preset second frictional resistance threshold, and the jacking force continues to increase for a duration exceeding a preset time threshold. After executing the grouting command, in response to the jacking force returning to the normal fluctuation range and the continuous stable time exceeding the stability threshold, the thixotropic mud injection volume is gradually restored to the normal value.

[0013] Secondly, this invention provides a method for controlling and optimizing the pipe jacking of pump stations across different strata based on dynamic identification of geological parameters, comprising the following steps: S100: Real-time acquisition of operating parameters during pipe jacking construction; S200. Based on the working condition parameters, the key geological feature parameters corresponding to the current jacking position are obtained by inversion calculation based on the geological-mechanical relationship model, and the key geological feature parameters are dynamically updated according to the jacking progress. S300. Based on the key geological feature parameters, construction control parameters are obtained by real-time calculation from a preset control strategy library. S400. Based on the construction control parameters, adaptively adjust the jacking speed of the on-site construction equipment, the pressure of the slurry chamber, and the thixotropic slurry injection volume.

[0014] Compared with the prior art, the present invention has at least one of the following technical effects: 1. The slurry chamber pressure control unit of this invention calculates active and passive earth pressures in real time based on dynamically identified stratum unit weight, internal friction angle, cohesion, and pipeline burial depth, according to Rankine's earth pressure theory. It controls the target slurry chamber pressure setpoint between active and passive earth pressures, achieving precise balance of earth pressure at the excavation face. This effectively controls surface settlement and solves the problems of abnormal jacking force and excessive settlement caused by geological changes during pipe jacking construction in composite strata. Simultaneously, the thixotropic slurry injection unit automatically triggers grouting based on changes in frictional resistance, ensuring the formation of a complete slurry sleeve around the pipe. Through the above control, surface settlement is effectively controlled within 30mm, meeting the specifications.

[0015] 2. This invention uses a parameter identification module to invert key characteristic parameters such as the average frictional resistance between the pipe and soil / rock, the uniaxial compressive strength of the rock, and the stratum cutability index in real time. The strategy optimization module automatically adjusts the target jacking speed from the conventional level to the first low speed level or the second low speed level according to the changes in the stratum, effectively avoiding the instantaneous surge in jacking force caused by geological changes.

[0016] 3. This invention models and algorithms the traditional control strategy that relies on operator experience. Through the geological parameter dynamic identification module, it perceives stratum changes in real time, and the strategy optimization module automatically matches the optimal control parameters, realizing a leap from "experience control" to "data-driven adaptive control". The system has built-in three sets of PID parameters and thresholds for soft soil, gravel and weakly weathered rock, and can complete parameter adjustment when switching strata without manual intervention.

[0017] 4. The correction angle calculation unit of this invention follows the principle of "small angle, continuous correction", and the single correction angle achieves precise control of "frequent measurement and correction, small angle, continuous correction". Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a module architecture diagram of the pump station pipe jacking control and optimization system for crossing different strata based on dynamic identification of geological parameters, as described in this invention. Figure 2 This is a diagram of the internal unit architecture of the parameter identification module of the present invention; Figure 3 This is a diagram of the internal unit architecture of the strategy optimization module of the present invention; Figure 4 This is an internal unit architecture diagram of the device execution module of the present invention. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0021] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0022] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0024] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0026] In this embodiment, the system's execution entity includes a programmable logic controller (PLC), an industrial control computer, or an embedded controller, along with a matching touchscreen human-machine interface. The ground control room console is connected to the underground pipe jacking machine's execution terminal via a dedicated cable. Figure 1 The diagram illustrates the architecture of the pump station pipe jacking control and optimization system for crossing different strata based on dynamic identification of geological parameters, as disclosed in the first embodiment of the present invention, including: The parameter acquisition module is used to collect working parameters in real time during the pipe jacking construction process; The parameter identification module is used to calculate the key geological feature parameters corresponding to the current jacking position based on the working condition parameters and the geomechanical relationship model, and to dynamically update the key geological feature parameters according to the jacking progress. The strategy optimization module is used to match and calculate construction control parameters in real time from a preset control strategy library based on key geological feature parameters. The equipment execution module is used to adaptively adjust the jacking speed, slurry chamber pressure, and thixotropic slurry injection volume of the on-site construction equipment according to the construction control parameters.

[0027] See Figure 1 This system adopts a centralized PLC control architecture, using a Siemens S7-1500 series PLC as the main control unit, paired with a touchscreen human-machine interface. The hardware includes a ground control console (located at the rear of the working shaft) and an underground YD1400 slurry-balanced rock pipe jacking machine execution terminal, with signal and power transmission achieved via a 200-meter dedicated power cable and control cable. The system features three levels of control logic: manual operation, semi-automatic linkage, and fully automatic protection, with a one-button switch to manual mode in emergencies. The distributed subsystem configuration is as follows: Main jacking system: At least four 200t constant thrust hydraulic cylinders are connected in parallel for control, each equipped with an independent oil inlet / outlet control circuit. The total jacking force control limit does not exceed the maximum allowable jacking force of 114173.85kN for the pipe. Taking this embodiment as an example, the maximum allowable jacking force for the pipe is 114173.85kN. The system ensures that the actual jacking force is always below this limit through closed-loop jacking force control, preventing major accidents such as pipe section rupture, damage to the back wall, and equipment jamming.

[0028] Intermediate station system: Based on calculations, at least 4 intermediate stations will be set up, each equipped with an independent three-column hydraulic power unit (total thrust 64000kN, cylinder stroke 500mm), and remotely controlled by PLC for start / stop and thrust adjustment. The first intermediate station will be located 50m behind the turbine head, and then one station will be set up at intervals of approximately 100m thereafter.

[0029] Slurry inlet and outlet system: The slurry inlet pump and the slurry outlet pump are both 30kW in power and driven by frequency converters. They communicate with the PLC through PROFINET to achieve stepless adjustment of flow rate and pressure.

[0030] Grouting system: Supports simultaneous grouting and replenishment grouting modes. A grouting section is set every 15m along the pipeline axis (each grouting section has 3 φ50mm grouting holes on the top of the pipe and the left and right sides). Each section is independently controlled.

[0031] Communication protocols: PROFINET industrial Ethernet is used between the PLC and the frequency converter, TCP / IP is used with the touch screen, and OPCUA is used with the host computer monitoring system. The sampling and control cycle of field sensors and actuators is uniformly 200ms.

[0032] As an illustration, the parameter acquisition module scans cyclically at a 200ms cycle, acquiring the following operating parameters and storing them in the PLC data block (DB). The sensor models and installation methods in this embodiment are shown in Table 1 below:

[0033] Furthermore, the collected data is filtered by a first-order low-pass filter and then stored in a historical data queue for subsequent identification and control.

[0034] The operating parameters should include at least the jacking force of the main jacking cylinder, the torque of the cutterhead, the jacking speed, the pressure of the slurry chamber, the slurry inlet flow rate, the slurry outlet flow rate, and the attitude parameters of the pipe jacking machine.

[0035] Key formation characteristic parameters include at least the average frictional resistance between the pipe and soil / rock, the uniaxial compressive strength of the rock, and the formation machinability index.

[0036] Construction control parameters should include at least the target jacking speed, the target slurry chamber pressure setting, the grouting volume, and the single correction angle.

[0037] See Figure 2 The parameter identification module includes a total top force decomposition unit, a frictional resistance identification unit, and a lithology identification unit. The total jacking force decomposition unit is used to decompose the real-time total jacking force into cutterhead face resistance and tube wall friction resistance, satisfying the following: F = F0 + F f ; Where F is the real-time total thrust; F0 is the cutterhead frontal resistance; F f This refers to the frictional resistance of the pipe wall. The cutterhead frontal resistance is the ground resistance experienced by the cutterhead of the pipe jacking machine. It is dynamically estimated based on the cutterhead torque, cutterhead rotation speed, jacking speed, and slurry chamber pressure. The calculation of the cutterhead frontal resistance also involves the cutterhead cross-sectional area and calibration coefficient. This embodiment uses a YD1400 pipe jacking machine (cutterhead rated torque 175kN·m, speed adjustable from 0 to 5rpm via frequency conversion). The empirical formula for cutterhead frontal resistance is: F0 = k1·T·(n / v) / 1000 + k2·P c ·A cutter ; Where F0 is the cutting head resistance; T is the cutting head torque; n is the cutting head rotation speed; v is the feed rate; P c For the pressure in the mud and water chamber; A cutterThe cross-sectional area of ​​the cutterhead is given; where n / v is in revolutions per millimeter (rpm), and T is in kN·m. After dividing by 1000, T·(n / v) / 1000 is in kN, consistent with the unit of the second item. Since the unit of the jacking speed v is mm / min, the dimension of n / v is 1 / mm, and the dimension of T·(n / v) is kN·m / mm = 1000kN, it needs to be divided by 1000 to unify the units. k1 and k2 are dimensionless calibration coefficients, obtained through field calibration tests: under different jacking speeds and slurry chamber pressures, the relationship between the total jacking force and the cutterhead torque and slurry pressure is measured and obtained by multiple linear regression fitting. In this embodiment, k1 = 0.2 and k2 = 0.7. n / v is the number of cutterhead revolutions corresponding to a unit jacking distance (per millimeter), reflecting the cutting workload per unit advance distance of the cutterhead. When v < 5 When the speed is 50 mm / min, the cutterhead's frontal resistance is mainly contributed by the slurry chamber pressure; when v > 50 mm / min, the cutterhead's cutting resistance dominates. This formula allows for the real-time separation of the cutterhead's frontal resistance F0 and the pipe wall friction F. f ; Specifically, when the jacking speed V < 1 mm / min, n / v is forcibly set to the upper limit of / 1, and an alarm for low speed is output at the same time. The friction resistance identification unit is used to calculate the current average pipe-soil / rock friction resistance based on the separated pipe wall friction resistance, the current pipe outer diameter, and the jacking length, according to the following formula: F f =π·D·L·f; Among them, F f is the pipe wall friction resistance; D is the current pipe outer diameter; L is the jacking length; f is the average pipe-soil / rock friction resistance; To prevent transient fluctuations, the calculated values ​​are output after exponential smoothing (smoothing factor β=0.1). In this embodiment, the typical frictional resistance value is 8~12 kPa in the gravel and pebble layer and 15~25 kPa in the weakly weathered limestone layer.

[0038] The lithology identification unit is used to dynamically identify the uniaxial compressive strength and machinability index of the rock when determining that the current formation is rocky (the determination criteria are: the 3-second slip standard deviation of the cutterhead torque exceeds 15% of the rated torque (175 kN·m), and the cutting depth per cutterhead revolution δ=v / n (where v is the jacking speed and n is the cutterhead rotation speed) suddenly decreases by more than 30% compared to the average value of the previous 1 meter, while the pressure fluctuation in the mud chamber is less than ±5 kPa. When all the above conditions are met, it is determined that the formation has entered a rocky stratum). Based on the cutterhead torque, cutterhead rotation speed, and jacking speed, the unit dynamically identifies the uniaxial compressive strength and machinability index of the rock according to the following formula: T=α·R c ·δ·R cutter ·K c ; Where T is the cutterhead torque; α is the cutterhead cutting ratio coefficient, which is dimensionless and calibrated in this embodiment using the following method: in a test section (R) with known rock strength. c =40MPa), measure the cutter head torque T, feed speed v, and cutter head rotation speed n, calculate the depth of cut per revolution δ=v / n, and use the relationship T=α·R c ·δ·R cutter ·K c Find α inversely, where K c Take the theoretical value of 1.0 and substitute it into R. cutter =0.77m, and the average value obtained from multiple experiments is α=0.95 (dimensionless); δ is the depth of cut per revolution of the cutter head, which satisfies δ=v / n, where v is the feed rate and n is the rotational speed of the cutter head; R cutter R is the radius of the cutter head; c K represents the uniaxial compressive strength of the rock. c The formation cutability index reflects the ease with which rocks can be cut by cutting tools (the product α·R is estimated online using the recursive least squares (RLS) method). c ·K c Combined with the pre-stored rock type - K c Comparison Table (Weakly Weathered Limestone K) c (Taking values ​​from 1.0 to 1.2), we can calculate R by reverse calculation. c The geological report in this example shows that the strength of the weakly weathered limestone is about 40 MPa, which is consistent with the identification results.

[0039] The process of dynamically updating key stratigraphic parameters includes: When the pipe jacking machine is determined to be in a sandy gravel or cohesive soil layer based on real-time working parameters, the average frictional resistance between the pipe and soil / rock is calculated and updated in real time according to the output of the total jacking force decomposition unit and the frictional resistance identification unit. When the pipe jacking machine cuts into the weakly weathered limestone layer based on real-time operating parameters, the uniaxial compressive strength of the rock and the machinability index of the formation are calculated and updated in real time according to the output of the lithology identification unit.

[0040] Specifically, when the real-time operating parameters determine that the pipe jacking machine is in a layer of sand, gravel, or cohesive soil, the average frictional resistance f between the pipe and the soil / rock is recalculated and updated every 1m of jacking. When the real-time operating parameters determine that the pipe jacking machine is cutting into a layer of weakly weathered limestone, the uniaxial compressive strength R of the rock is reidentified and updated every 0.2m of jacking. c and machinability index K c The updated parameters are stored in the PLC's persistent memory area and used as input to the strategy optimization module.

[0041] See Figure 3 The strategy optimization module includes a jacking speed optimization unit, a slurry chamber pressure control unit, and a correction angle calculation unit. The jacking speed optimization unit includes a speed-load adaptive rule. When the identified average frictional resistance between the pipe and soil / rock exceeds the preset first frictional resistance threshold, or the uniaxial compressive strength of the rock exceeds the strength threshold, or the cutterhead torque exceeds the preset torque threshold, the target jacking speed is automatically reduced to the corresponding preset level. Specifically, illustratively, based on the pipe material (Q235-B steel pipe, maximum allowable jacking force 114173.85kN) and the load-bearing capacity of the back wall, the following thresholds are preset: First resistance threshold f th1 =12kPa (warning value for sand and gravel layer); Rock uniaxial compressive strength threshold R c,th =30MPa (entering the weakly weathered rock discrimination value); Cutter head torque threshold T th =150kN·m (85% of the rated torque).

[0042] When the identified f>f th1 or R c >R c,th Or T>T th At that time, the PLC automatically adjusts the target's advancing speed v. target Shift from the normal speed setting (120 mm / min) to the lowest speed setting (30 mm / min); if R c If the pressure exceeds 60 MPa, the speed is further reduced to the second lowest setting (8 mm / min). After all trigger parameters return to the normal range and remain stable for 30 seconds, the speed is gradually increased back to the normal setting in increments of 5 mm / min. The 30-second stability period and the 5 mm / min increment are designed to ensure a smooth transition in jacking speed and avoid sudden changes in jacking force; the increment is 1 / 24 of the normal speed, and the stabilization time is set based on system inertia and safety requirements.

[0043] The slurry chamber pressure control unit automatically calculates and sets the slurry chamber pressure based on the geological formation type and dynamically identified soil parameters, maintaining it between active and passive earth pressures to satisfy the following: P a <P c,target <P p ; Among them, P a The active earth pressure at the current jacking position is calculated based on dynamically identified formation unit weight, internal friction angle, and pipeline burial depth; P c,target Set the target slurry chamber pressure value; P p The passive earth pressure at the current jacking position is calculated based on the dynamically identified stratum unit weight, internal friction angle, and pipeline burial depth. Specifically, based on the stratum type and dynamically identified soil parameters (stratum unit weight, internal friction angle, cohesion), the active earth pressure P is calculated according to Rankine's earth pressure theory. a and passive earth pressure P p : ; ; ; ; Among them, K a K is the active earth pressure coefficient. p P is the passive earth pressure coefficient. a For active earth pressure; P p γ is the passive earth pressure; γ is the unit weight of the formation; Φ is the angle of internal friction; c is the cohesion; H is the burial depth of the pipeline center. In slurry-balanced pipe jacking construction, Rankine's earth pressure theory can be used to set the pressure in the slurry chamber of the pipe jacking machine. The specific application is as follows: Calculate the active earth pressure P at the center of the pipe jacking section excavation. a and passive earth pressure P p Set the target slurry chamber pressure setting value P c,target The control lies between the two, that is: P a <P c,target <P p ; Among them, P a For active earth pressure; P c,target Set the target slurry chamber pressure value; P p For passive earth pressure; Corrections are also made considering groundwater pressure. P w =γ w ·H w ; Among them, P w Groundwater pressure; γ w The specific weight of water; H w This refers to the height above the groundwater level (i.e., the vertical distance from the groundwater level to the center of the pipeline). For illustration, the pipeline center elevation is 18.0m, the average burial depth is approximately 20m, and the groundwater level is relatively high.

[0044] The target pressure setting value for the slurry chamber is: P c,target =P a +0.3·(P p -P a )+P w ; Among them, P c,targetSet the target slurry chamber pressure value; P a P represents the active earth pressure at the current jacking position. p P represents the passive earth pressure at the current jacking position. w Groundwater pressure; This value is output to the frequency converters of the slurry inlet and outlet pumps via PLC analog signal, forming a closed-loop PID control. The PID parameters are: proportional coefficient P = 1.2, integral time I = 0.5 s, and derivative time D = 0.1 s (the PID parameters were obtained through on-site debugging in the test section using the Ziegler-Nichols critical proportional method, applicable to the geological conditions of this embodiment). This ensures that the actual slurry chamber pressure deviates from the set value by less than ±2 kPa. Through the above control logic, the tunneling pressure of the pipe jacking machine is always maintained between the active earth pressure and the passive earth pressure, achieving a precise balance of earth pressure at the excavation face and effectively controlling surface settlement.

[0045] The correction angle calculation unit follows the principle of "small angle, continuous correction." Based on the larger of the horizontal and vertical deviations between the real-time attitude of the pipe jacking machine and the design axis, it calculates the single correction angle, satisfying the following: Δθ=min(k·Δd,Δθ max ); where Δθ is the single correction angle, which is the single adjustment angle of the pipe jacking machine around the vertical or horizontal axis; k is the correction ratio coefficient, dimensionless, obtained through on-site calibration tests (given a set of correction angles on a straight segment, and fitted with the rate of change of deviation); Δd is the deviation between the real-time attitude of the pipe jacking machine and the design axis, taking the larger of the absolute values ​​of the horizontal and vertical deviations; Δθ max The maximum allowable single correction angle is preset based on the pipe material, interface type, and ground stability.

[0046] Specifically, the horizontal deviation ΔX and vertical deviation ΔY of the machine head are read in real time, and the deviation amount Δd = max(|ΔX|,|ΔY|). Single correction angle: Δθ=min(k·Δd,Δθ max ); The correction ratio coefficient k is calibrated to 0.08 (° / mm) on-site. During straight-line jacking, a set of correction angles Δθ (e.g., 0.1°, 0.2°, 0.3°) is manually assigned, and the corresponding headstock attitude change rate (i.e., the deviation change per unit jacking distance Δd / ΔL) is measured. The relationship Δθ = k·Δd is fitted, and the fitting slope k = 0.08 (° / mm) is taken. This coefficient is related to the pipe jacking machine model, pipe diameter, and formation stiffness. In this embodiment, it is calibrated for a YD1400 pipe jacking machine and gravel / pebble formations. The maximum allowable single correction angle Δθ is... max=0.5° (based on the allowable deflection angle of the steel pipe joint weld); when Δd<5mm, no active correction is performed. The combination of correction actions is determined according to the direction of deviation: when correcting upwards, the lower left and lower right cylinders extend simultaneously; when correcting downwards, the upper left and upper right cylinders extend simultaneously; when correcting to the left, the upper right and lower right cylinders extend simultaneously; when correcting to the right, the upper left and lower left cylinders extend simultaneously.

[0047] See Figure 4 The device execution module includes: The control and execution unit is used to control the jacking force and stroke of the main jacking cylinder according to the target jacking speed and target jacking force; The regulating actuator is used to adjust the slurry inlet flow rate and slurry outlet flow rate according to the target slurry tank pressure setpoint. The grouting execution unit is used to inject thixotropic mud into the pipe periphery according to the grouting volume of thixotropic mud. The correction actuator is used to control the extension combination of the correction cylinder according to the single correction angle.

[0048] Specifically, the control execution unit, adjustment execution unit, grouting execution unit, and correction execution unit each receive construction control parameters from the strategy optimization module and control the field equipment through specific hardware interfaces: The control execution unit sends a 4~20mA signal to the proportional valve of the main jacking cylinder through the PLC analog output module (6ES7532-5HD00-0AB0) to set the jacking speed (cylinder flow rate). Each cylinder is equipped with an individual proportional valve and displacement sensor to achieve a synchronization error ≤2mm. The adjustment execution unit writes frequency setpoints (0~50Hz) to the grout pump inverter (ABBACS880) and the grout discharge pump inverter via PROFINET through the PLC, ensuring that the actual slurry chamber pressure follows the target slurry chamber pressure setpoint. The grouting execution unit, in synchronous grouting mode, starts the screw grouting pump by closing the PLC digital output contact and adjusts the pump speed through analog output to match the grouting volume with the jacking speed. Q gr,target =π·(D²-d²) / 4·v·1.2; Among them, Q gr,target π is the thixotropic mud injection volume; π is the constant of pi; D is the inner diameter of the pipe; v is the jacking speed; d is the outer diameter of the pipe; and the filling coefficient is 1.2. The filling coefficient of 1.2 is a value range (usually 1.1~1.5) determined according to the "Code for Construction and Acceptance of Water Supply and Drainage Pipeline Engineering" (GB50268) and similar geological engineering experience. In this embodiment, 1.2 is used to ensure that the grout can fully fill the gap between the pipe wall and the stratum.

[0049] When the grouting command is triggered, the thixotropic mud injection volume is increased to 1.5 to 2 times the initial set value. The correction execution unit controls the electromagnetic reversing valve (24VDC, rated current 1.2A) of the corresponding correction cylinder by PLC digital output according to the single correction angle and direction, and at the same time controls the extension amount in a closed loop through the displacement sensor (range 0~200mm, accuracy 0.1mm).

[0050] Adaptive adjustment of the jacking speed of on-site construction equipment, slurry chamber pressure, and thixotropic mud injection volume, including: The jacking speed includes adjusting the target jacking speed from the normal speed setting to the first low speed setting when the identified average frictional resistance between the pipe and soil / rock exceeds the preset first frictional resistance threshold; adjusting the target jacking speed to the second low speed setting when the identified uniaxial compressive strength of the rock exceeds the strength threshold, indicating that hard rock formation has been entered; and gradually increasing the target jacking speed back to the normal speed setting when the corresponding parameters return to the normal range. The slurry chamber pressure includes the average skin friction between the pipe and soil / rock and the pipe burial depth, based on the stratum type and dynamic identification. The active earth pressure and passive earth pressure are calculated in real time, and the target slurry chamber pressure setpoint is updated accordingly. The thixotropic mud injection volume includes the following: when the identified average frictional resistance between the pipe and soil / rock exceeds the preset second frictional resistance threshold, and the jacking force continues to increase for a duration exceeding the preset time threshold, it is determined that the mud sleeve has failed, and a grouting command is automatically triggered; after the grouting command is executed, in response to the jacking force returning to the normal fluctuation range and the continuous stable time exceeding the stability threshold, the thixotropic mud injection volume is gradually restored to the normal value.

[0051] Specifically, when the identified average frictional resistance f between the pipe and soil / rock exceeds the preset first frictional resistance threshold (12 kPa), the target jacking speed v target The speed decreased from 120 mm / min to 30 mm / min; when the identified uniaxial compressive strength R of the rock... c When the pressure exceeds 30 MPa and further exceeds 60 MPa, the target jacking velocity v target The flow rate is reduced to 8 mm / min; after the corresponding parameter returns to the normal range and stabilizes for 30 seconds, it is increased by 5 mm / min every 20 seconds until it recovers to 120 mm / min. Based on the stratum type, dynamically identified average pipe-soil / rock friction f, and pipe burial depth H, the active earth pressure P is calculated in real time. a and passive earth pressure P p Based on this, the target slurry chamber pressure setpoint P is updated every second. c,target The mud-water balance is maintained through PID control. In this embodiment, the thixotropic mud ratio is bentonite:water:alkali = 100:614:2.0 (by weight), and the density is controlled between 1.05 and 1.25 g / cm³ (the higher value is taken for sand and gravel layers, with a density of 1.25 g / cm³).3 To enhance wall protection, a viscosity of 50s was used; for cohesive soil layers, a lower value (density 1.05 g / cm³) was adopted. 3 The viscosity is set at 30s (to reduce resistance), and the Marshall funnel viscosity is 30-50s. When the identified average frictional resistance f between the pipe and soil / rock exceeds the preset second frictional resistance threshold (10kPa, determined based on the jacking force-frictional resistance relationship curve of the test section), and the jacking force F increases accordingly (jacking force growth rate > 5% for three consecutive sampling cycles; the jacking force growth rate judgment threshold (5% / cycle): calculated based on the jacking force change rate for three consecutive sampling cycles (200ms per cycle); when the growth rate exceeds 5%, it is judged as an abnormal increase; this threshold is determined based on the statistical data of the field test section), and the grouting duration exceeds 10s, it is judged as mud sleeve failure, and a grouting command is automatically triggered, increasing the grouting volume to 1.8 times the normal value. After the grouting command is executed, in response to the jacking force F returning to the normal fluctuation range and the grouting remaining stable for more than 20s, the grouting volume is gradually restored to the normal value. Among them, the grouting duration exceeds 10 seconds and the grouting is stable for more than 20 seconds, which is determined based on the response characteristics of the grouting system (about 5 to 8 seconds from the issuance of the command to the establishment of pressure) and the safety margin.

[0052] Furthermore, the system also includes a security monitoring module, specifically comprising the following: (I) Surface Settlement Monitoring: A settlement monitoring point is set up every 40m along the centerline of the pipeline. The measurement is carried out manually using a precision level (or electronic level). The measurement data can be uploaded to the PLC via Bluetooth wireless transmission or manual input. The measurement accuracy is ±1.0mm. The warning value is set to 2 / 3 of the control value (i.e., 20mm). When the monitored value exceeds the warning value, the PLC triggers an audible and visual alarm and pushes information to the management personnel terminal. When the settlement rate exceeds 3mm / d for 3 consecutive days or the cumulative settlement reaches 30mm, the system automatically stops the jacking and starts emergency grouting. (II) Confined Space Gas Monitoring: Gas detectors (detecting O2, CO, CH4, H2S) are installed inside the pipeline, and data is uploaded to the PLC in real time. The "ventilation first, detection second, operation last" procedure is strictly followed: The PLC controls the ventilation fan to start and initiates a 30-minute timer; before the timer completes, the PLC locks the electronic access control at the pipeline entrance or issues an audible and visual warning, prohibiting personnel from entering. After the timer completes, the PLC unlocks the access control or allows personnel to enter. If the operation is interrupted for more than 30 minutes, the detection will automatically restart. When the O2 concentration is below 18% or the toxic gas level exceeds the standard, the PLC automatically cuts off the power supply and starts the high-power ventilation system. (III) Working well wall deformation monitoring: Deformation observation points are set up at the four corners of the well wall and measured 3 times a day. When the displacement rate is greater than 5mm / d, the PLC triggers an audible and visual alarm and suspends the jacking operation, and pushes the alarm information to the management personnel terminal at the same time.

[0053] The second embodiment of the present invention discloses a method for controlling and optimizing the pipe jacking of pump stations through different strata based on dynamic identification of geological parameters, including the following steps: S100: Real-time acquisition of operating parameters during pipe jacking construction; S200. Based on the working condition parameters, the key geological feature parameters corresponding to the current jacking position are obtained by inversion calculation based on the geological-mechanical relationship model, and the key geological feature parameters are dynamically updated according to the jacking progress. S300. Based on the key geological feature parameters, construction control parameters are obtained by real-time calculation from the preset control strategy library. S400: Based on the construction control parameters, adaptively adjust the jacking speed of the on-site construction equipment, the pressure of the slurry chamber, and the thixotropic slurry injection volume.

[0054] Specifically, operating parameters such as jacking force, cutterhead torque, jacking speed, slurry chamber pressure, flow rate, and attitude are collected at 200ms intervals and then filtered. Based on the real-time operating parameters, the geomechanical relationship model in the parameter identification module is invoked to dynamically invert the key characteristic parameters (f, R) of the current strata. c ,K c In the gravel and pebble section, 1m of jacking replenishes f; in the weakly weathered limestone section, 0.2m of jacking replenishes R. c and K c The strategy optimization module obtains construction control parameters (v) by matching from the preset control strategy library or by calculating in real time based on the updated formation parameters. target ,P c,target Q gr,target The strategy library contains three sets of PID parameters and thresholds for soft soil, gravel, and weakly weathered rock. The equipment execution module sends construction control parameters to actuators such as frequency converters, proportional valves, and solenoid valves via PROFINET or analog / digital channels to achieve adaptive adjustment. For example, when entering a weakly weathered limestone layer, the jacking speed is automatically reduced to 8 mm / min, while the target value of the slurry chamber pressure is increased by 30%, and the grouting trigger threshold is lowered to 8 kPa to prevent a sudden increase in jacking force.

[0055] This embodiment integrates a safety monitoring module to achieve real-time monitoring and coordinated control of surface subsidence, confined space gas levels, and working well wall deformation. When the subsidence rate exceeds 3 mm / d for three consecutive days or the cumulative subsidence reaches 30 mm, the system automatically stops jacking and initiates emergency grouting. When the O2 concentration is below 18% or toxic gas levels exceed the standard, the PLC automatically cuts off the operating power and activates the high-power ventilation system. When the well wall displacement rate exceeds 5 mm / d, the system automatically alarms and suspends jacking. These mechanisms effectively ensure the safety of construction personnel and the surrounding environment.

[0056] It should be noted that the specific algorithms and execution details involved in the control optimization method for pump station pipe jacking crossing different strata based on dynamic identification of geological parameters are the same as those in the implementation of the control optimization system for pump station pipe jacking crossing different strata based on dynamic identification of geological parameters, and will not be repeated here.

[0057] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0058] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0059] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0060] In the embodiments disclosed in this application, it should be understood that the disclosed devices / terminal equipment and systems can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0061] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

Claims

1. A pump station pipe jacking control and optimization system for crossing different strata based on dynamic identification of geological parameters, characterized in that, include: The parameter acquisition module is used to collect working parameters in real time during the pipe jacking construction process; The parameter identification module is used to calculate the key geological feature parameters corresponding to the current jacking position based on the working condition parameters and the geological-mechanical relationship model, and to dynamically update the key geological feature parameters according to the jacking progress. The strategy optimization module is used to match and calculate construction control parameters in real time from a preset control strategy library based on the key feature parameters of the strata. The equipment execution module is used to adaptively adjust the jacking speed, slurry chamber pressure, and thixotropic mud injection volume of the on-site construction equipment according to the construction control parameters. It also includes: the parameter identification module, comprising a total jacking force decomposition unit, a frictional resistance identification unit, and a lithology identification unit; the total jacking force decomposition unit is used to decompose the real-time total jacking force into cutterhead face resistance and pipe wall frictional resistance, satisfying: F=F0+F f Where F is the real-time total thrust; F0 is the cutterhead frontal resistance; F f The pipe wall friction resistance is defined as follows: the cutterhead face resistance is the ground resistance experienced by the cutterhead of the pipe jacking machine, dynamically estimated based on cutterhead torque, cutterhead rotation speed, jacking speed, and slurry chamber pressure. The face resistance calculation also involves the cutterhead cross-sectional area and calibration coefficient. The friction resistance identification unit is used to back-calculate the current average pipe-soil / rock friction resistance based on the pipe wall friction resistance, the current pipe outer diameter, and the jacking length, according to the following formula: F f =π·D·L·f; where F f D is the pipe wall frictional resistance; L is the current pipe outer diameter; f is the jacking length; f is the average pipe-soil / rock frictional resistance; the lithology identification unit is used to dynamically identify the uniaxial compressive strength and machinability index of the rock based on the cutterhead torque, cutterhead rotation speed, and jacking speed when the current formation is rock, according to the following formula: T=α·R c ·δ·R cutter ·K c Where T is the cutter head torque; α is the cutter head cutting ratio coefficient, which is dimensionless; R cutter R is the radius of the cutter head; c δ represents the uniaxial compressive strength of the rock; δ is the cutting depth per revolution of the cutterhead, satisfying δ=v / n, where v is the jacking speed and n is the cutterhead rotation speed; K c The formation machinability index reflects the ease with which rocks are cut by cutting tools; the conditions used to determine that the current formation is rock are: the 3-second slip standard deviation of the cutter head torque exceeds 15% of the rated torque, and the cutting depth per revolution of the cutter head δ=v / n suddenly decreases by more than 30% compared with the average value of the previous 1 meter, while the pressure fluctuation of the mud chamber is less than ±5kPa. The process of dynamically updating key formation characteristic parameters includes: when the pipe jacking machine is determined to be in a gravel or cohesive soil layer based on real-time operating parameters, the average frictional resistance between the pipe and soil / rock is calculated and updated in real time based on the output of the total jacking force decomposition unit and the frictional resistance identification unit; when the pipe jacking machine is determined to be cutting into a weakly weathered limestone layer based on real-time operating parameters, the uniaxial compressive strength of the rock and the formation cutability index are calculated and updated in real time based on the output of the lithology identification unit. The strategy optimization module includes a jacking speed optimization unit and a slurry chamber pressure control unit. The jacking speed optimization unit includes a speed-load adaptive rule that automatically adjusts the target jacking speed to the corresponding preset level when the identified average frictional resistance between the pipe and soil / rock exceeds a preset first frictional resistance threshold, or the uniaxial compressive strength of the rock exceeds a strength threshold, or the cutterhead torque exceeds a preset torque threshold. The slurry chamber pressure control unit automatically calculates and sets the slurry chamber pressure based on the formation type and dynamically identified soil parameters, maintaining it between active and passive earth pressures, satisfying: P a <P c,target <P p Among them, P a The active earth pressure at the current jacking position is calculated based on dynamically identified formation unit weight, internal friction angle, and pipeline burial depth; P c,target Set the target slurry chamber pressure value; P p The passive earth pressure at the current jacking position is calculated based on dynamically identified formation unit weight, internal friction angle, and pipeline burial depth; the target slurry chamber pressure setpoint is: P c,target =P a +0.3·(P p -P a )+P w Among them, P c,target Set the target slurry chamber pressure value; P a P represents the active earth pressure at the current jacking position. p P represents the passive earth pressure at the current jacking position. w Groundwater pressure; The adaptive adjustment of the jacking speed and slurry chamber pressure of the on-site construction equipment includes: when the identified average frictional resistance f between the pipe and soil / rock exceeds the first frictional resistance threshold f. th1 Or the uniaxial compressive strength R of the rock c Rock uniaxial compressive strength threshold R c,th Or the cutter head torque T > the cutter head torque threshold T th At that time, the PLC automatically adjusts the target's advancing speed v. target Reduce the speed from the normal setting of 120 mm / min to the lowest setting of 30 mm / min; if the uniaxial compressive strength R of the rock... c If the speed is >60MPa, then reduce to the second low speed gear of 8mm / min; after all trigger parameters return to the normal range and remain stable for 30 seconds, gradually increase the speed back to the normal gear in increments of 5mm / min. The slurry chamber pressure includes the active earth pressure and passive earth pressure calculated in real time based on the stratum type, dynamically identified average frictional resistance between the pipe and soil / rock, and the pipe burial depth, and the target slurry chamber pressure setpoint is updated accordingly. The thixotropic mud injection volume includes the following: when the identified average frictional resistance between the pipe and soil / rock exceeds the preset second frictional resistance threshold, and the jacking force continues to increase for a duration exceeding the preset time threshold, it is determined that the mud sleeve has failed, and a grouting command is automatically triggered; after the grouting command is executed, in response to the jacking force returning to the normal fluctuation range and the duration of stability exceeding the stability threshold, the thixotropic mud injection volume is gradually restored to the normal value.

2. The pump station pipe jacking control and optimization system based on dynamic identification of geological parameters for crossing different strata as described in claim 1, characterized in that, The operating parameters include at least the jacking force of the main jacking cylinder, the torque of the cutterhead, the jacking speed, the pressure of the slurry chamber, the slurry inlet flow rate, the slurry outlet flow rate, and the attitude parameters of the pipe jacking machine.

3. The pump station pipe jacking control and optimization system for crossing different strata based on dynamic identification of geological parameters as described in claim 1, characterized in that, The key characteristic parameters of the formation include at least the average frictional resistance between the pipe and soil / rock, the uniaxial compressive strength of the rock, and the formation machinability index.

4. The pump station pipe jacking control and optimization system for crossing different strata based on dynamic identification of geological parameters according to claim 1, characterized in that, The construction control parameters include at least the target jacking speed, the target slurry chamber pressure setting value, the grouting volume, and the single correction angle.

5. The pump station pipe jacking control and optimization system based on dynamic identification of geological parameters for crossing different strata as described in claim 1, characterized in that, The strategy optimization module also includes a correction angle calculation unit; The correction angle calculation unit follows the principle of "small angle, continuous correction". Based on the larger of the horizontal and vertical deviations between the real-time attitude of the pipe jacking machine and the design axis, it calculates the single correction angle, satisfying: Δθ=min(k·Δd,Δθ) max ); where Δθ is the single correction angle, which is the single adjustment angle of the pipe jacking machine around the vertical or horizontal axis; k is the correction ratio coefficient, dimensionless, pre-calibrated according to the pipe jacking machine model, pipe diameter, and geological characteristics; Δd is the deviation between the real-time attitude of the pipe jacking machine and the design axis, taking the larger of the absolute values ​​of the horizontal and vertical deviations; Δθ max The maximum allowable single correction angle is preset based on the pipe material, interface type, and ground stability.

6. The pump station pipe jacking control and optimization system for crossing different strata based on dynamic identification of geological parameters according to claim 1, characterized in that, The device execution module includes: The control and execution unit is used to control the jacking force and stroke of the main jacking cylinder according to the target jacking speed and target jacking force; The regulating actuator is used to adjust the slurry inlet flow rate and slurry outlet flow rate according to the target slurry tank pressure setpoint. The grouting execution unit is used to inject thixotropic mud into the pipe periphery according to the grouting volume of thixotropic mud. The correction actuator is used to control the extension combination of the correction cylinder according to the single correction angle.

7. A method for controlling and optimizing the pipe jacking of pump stations across different strata based on dynamic identification of geological parameters, characterized in that, Includes the following steps: S100: Real-time acquisition of operating parameters during pipe jacking construction; S200. Based on the aforementioned working condition parameters, the key formation characteristic parameters corresponding to the current jacking position are obtained through inversion calculation using a geomechanical relationship model, and the key formation characteristic parameters are dynamically updated according to the jacking progress; including: decomposing the real-time total jacking force into cutterhead face resistance and pipe wall friction resistance, satisfying: F=F0+F f Where F is the real-time total thrust; F0 is the cutterhead frontal resistance; F f This refers to the frictional resistance of the pipe wall. Based on the pipe wall friction, the current pipe outer diameter, and the jacking length, the current average pipe-soil / rock friction is calculated using the following formula: F f =π·D·L·f; where F f is the pipe wall friction resistance; D is the current pipe outer diameter; L is the jacking length; f is the average pipe-soil / rock friction resistance; When determining that the current formation is rocky, based on the cutterhead torque, cutterhead rotation speed, and jacking speed, the uniaxial compressive strength and machinability index of the rock are dynamically identified according to the following formula: T=α·R c ·δ·R cutter ·K c Where T is the cutter head torque; α is the cutter head cutting ratio coefficient, which is dimensionless; R cutter R is the radius of the cutter head; c δ represents the uniaxial compressive strength of the rock; δ is the cutting depth per revolution of the cutterhead, satisfying δ=v / n, where v is the jacking speed and n is the cutterhead rotation speed; K c It is the formation cutability index; When it is determined that the pipe jacking machine is in a sandy gravel or cohesive soil layer, the average frictional resistance between the pipe and soil / rock is calculated and updated in real time based on the output of the total jacking force decomposition unit and the frictional resistance identification unit. When it is determined that the pipe jacking machine has cut into a weakly weathered limestone layer based on the real-time working condition parameters, the uniaxial compressive strength of the rock and the stratum cutability index are calculated and updated in real time based on the output of the lithology identification unit. S300. Based on the key geological feature parameters, construction control parameters are obtained through real-time calculation from a preset control strategy library; including: The speed-load adaptive rule automatically adjusts the target jacking speed to the corresponding preset level when the identified average frictional resistance between the pipe and soil / rock exceeds the preset first frictional resistance threshold, or the uniaxial compressive strength of the rock exceeds the strength threshold, or the cutterhead torque exceeds the preset torque threshold. Once all trigger parameters have returned to the normal range and remained stable for 30 seconds, gradually increase the speed back to the normal level in increments of 5 mm / min. Based on the geological strata type and dynamically identified soil parameters, the slurry chamber pressure is automatically calculated and set to remain between the active and passive earth pressures, satisfying: P a <P c,target <P p Among them, P a The active earth pressure at the current jacking position is calculated based on dynamically identified formation unit weight, internal friction angle, and pipeline burial depth; P c,target Set the target slurry chamber pressure value; P p The passive earth pressure at the current jacking position is calculated based on the dynamically identified stratum unit weight, internal friction angle, and pipeline burial depth. Following the principle of "small angle, continuous correction", the single correction angle is calculated based on the larger of the horizontal and vertical deviations between the real-time posture of the pipe jacking machine and the design axis, satisfying: Δθ=min(k·Δd,Δθ) max ); where Δθ is the single correction angle, which is the single adjustment angle of the pipe jacking machine around the vertical or horizontal axis; k is the correction ratio coefficient, dimensionless, pre-calibrated according to the pipe jacking machine model, pipe diameter, and geological characteristics; Δd is the deviation between the real-time attitude of the pipe jacking machine and the design axis, taking the larger of the absolute values ​​of the horizontal and vertical deviations; Δθ max The maximum allowable single correction angle is preset based on the pipe material, interface type, and formation stability. S400. Based on the aforementioned construction control parameters, adaptively adjust the jacking speed of the on-site construction equipment, the pressure of the slurry chamber, and the thixotropic mud injection volume; including: The jacking force and stroke of the main jacking cylinder are controlled according to the target jacking speed and target jacking force; Adjust the slurry inlet flow rate and slurry outlet flow rate according to the target slurry chamber pressure set value; Thixotropic mud is injected around the pipe according to the grouting volume; when the identified average frictional resistance between the pipe and soil / rock exceeds the preset second frictional resistance threshold, and the jacking force continues to increase for a duration exceeding the preset time threshold, it is determined that the mud sleeve has failed, and a grouting command is automatically triggered; after the grouting command is executed, in response to the jacking force returning to the normal fluctuation range and the duration of stability exceeding the stability threshold, the thixotropic mud injection volume is gradually restored to the normal value; The extension combination of the correction cylinder is controlled according to the single correction angle.

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