A curve pipe section posture self-adaptive holding method

Abstract

This invention discloses an adaptive attitude maintenance method for pipe sections in curved pipe jacking, belonging to the field of pipe jacking construction technology. The method includes: S1, pre-construction calibration of basic parameters and construction of an attitude-correction coupling model; S2, establishment of initial attitude benchmarks for pipe sections and system calibration; S3, real-time synchronous acquisition of multi-source attitude data; S4, real-time calculation of pipe section attitude deviation and anomaly level discrimination; S5, dynamic generation of adaptive correction strategies; S6, coordinated distribution of grouped jacking cylinder forces and precise control of articulated cylinders; S7, attitude closed-loop feedback correction and steady-state maintenance; S8, attitude trend prediction and proactive intervention control; and S9, construction data archiving and model iterative optimization. This invention can effectively achieve adaptive active maintenance and proactive precise control of pipe section attitude, thereby effectively improving the control accuracy and construction safety of pipe section attitude in curved pipe jacking construction.

Description

Technical Field

[0001] This invention relates to the field of pipe jacking construction technology, and in particular to a method for adaptively maintaining the posture of a curved pipe jacking segment. Background Technology

[0002] Curved pipe jacking is widely used in urban integrated pipe corridors, water supply and drainage, gas and heating pipelines, and other projects, especially suitable for construction scenarios involving complex areas such as those crossing buildings, highways, railways, and rivers. Curved pipe jacking requires the formation of a continuous broken line segment fitting the design curve through hinged structures between pipe sections. The stability of the pipe section's posture directly determines the axial accuracy and structural safety. Currently, construction generally employs a combination of periodic manual measurements and single-point sensor monitoring of posture. During correction, operators manually adjust the stroke of the hinged hydraulic cylinders or make fixed adjustments based on the absolute value of the deviation. Jacking control adopts an overall jacking mode, with uniform output from each group of jacking cylinders. After correction, re-measurement and verification are usually not performed; the effect is only confirmed in the next measurement cycle.

[0003] However, in practical use, the above-mentioned solutions typically rely on manual periodic measurements or single-point sensors, which cannot simultaneously acquire pitch, yaw, and roll three-dimensional attitude data. Deviations accumulate to exceed the limit before they can be detected and corrected, resulting in a severe lag in response. Deviations amplify rapidly at small radii of curvature. The correction strategy only adjusts the articulated cylinders based on the absolute value of the deviation, without considering dynamic factors such as ground resistance, jacking speed, and pipe section mechanics to determine the amount of correction. This can easily lead to excessive or insufficient correction, causing secondary deviations. Furthermore, during overall jacking, the output of the jacking cylinders in each group is balanced, and uneven stress on the pipe sections can easily cause joint cracking and shear failure of the waterstop. Moreover, the lack of real-time verification allows deviations to accumulate continuously, making attitude control easy to become uncontrollable during long-distance jacking. The existing mode can only passively respond to deviations that have already occurred and cannot predict attitude change trends. It is difficult to intervene in advance when facing complex working conditions such as uneven ground, cavities, and groundwater disturbances, and attitude stability cannot be guaranteed. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings mentioned above by providing an adaptive method for maintaining the attitude of a curved jacking pipe segment, thereby achieving adaptive active maintenance and advanced precise control of the pipe segment's attitude.

[0005] To solve the above technical problems, the present invention adopts the following technical solution: a method for adaptively maintaining the attitude of a curved pipe jacking section, comprising: S1. Pre-construction foundation parameter calibration and attitude-correction coupling model construction: Input the design parameters of the curved pipe jacking to complete the digital modeling of the design trajectory, collect the geological stratification parameters of the jacking path to complete the digital stratification mapping of geological conditions, calibrate the mechanical parameters of the pipe section and articulation system to establish a mechanical response database, and construct an attitude-correction coupling model based on the digital model of the design trajectory, the geological condition stratification mapping data and the mechanical response database. S2. Establishment of initial attitude reference for pipe section and system calibration: In the initial stage of pipe jacking, the initial attitude of the first pipe section is determined and set as the attitude reference value. The multi-source monitoring equipment is synchronously zero-point calibrated, and the articulated cylinder and the grouped jacking cylinder are tested under no-load conditions. S3. Real-time synchronous acquisition of multi-source attitude data: Three-dimensional attitude data of pipe sections are collected at equal intervals. At the same time, the stroke and joint rotation data of articulated cylinders, as well as the working conditions of grouped top cylinders and formation disturbance data are collected in real time. The collected multi-source data are processed by timestamp alignment, noise filtering and outlier removal. S4. Real-time calculation of pipe section attitude deviation and anomaly level judgment: The actual spatial attitude matrix of the tube segment is calculated based on the three-dimensional attitude data, and three types of deviations, namely planar yaw deviation, vertical pitch deviation and roll tilt deviation, are calculated. The comprehensive deviation value is obtained by the attitude comprehensive deviation calculation formula, and then the comprehensive deviation value is compared with a preset threshold to classify the deviation level. S5. Dynamic generation of adaptive correction strategy: The causes of the mismatch are identified, and the correction parameters are dynamically calculated based on the attitude-correction coupling model. A graded adaptive correction strategy is then generated for the mismatch level. S6. Grouped top cylinder force coordinated distribution and precise control of articulated cylinder: The grouped top cylinders are differentiated in terms of output force according to the above correction strategy, and the extension and retraction of the articulated cylinder is adjusted synchronously to control the angle of the articulated joint. The control action is completed by using a gradual rate. S7. Attitude closed-loop feedback correction and steady-state maintenance: After retesting the corrected pipe section attitude data, the residual deviation is iteratively fine-tuned and corrected. Once the deviation reaches the target, the steady-state holding mode is switched to suppress attitude fluctuations. S8. Posture Trend Prediction and Proactive Intervention: Historical attitude data is fitted to predict attitude change trends, triggering proactive control to offset offset trends, and strengthening proactive intervention for complex geological sections. S9. Construction data archiving and model iteration optimization: Archive the entire construction process data and correct the parameters of the attitude-correction coupling model based on the measured data.

[0006] Furthermore, the design parameters for curved pipe jacking include the plane curve coordinates, vertical curve elevation, design radius of curvature, total jacking length, and design axis inclination angle of the pipe section; the geological stratification parameters include stratum type, soil density, surrounding rock elastic modulus, groundwater pressure, and stratum lateral resistance distribution; the mechanical parameters of the pipe section and articulation system include the pipe section geometry, bending stiffness, allowable rotation angle range of the articulation joint, and rated stroke and output range of the articulation cylinder; the three-dimensional attitude data of the pipe section includes pitch angle, yaw angle, and roll angle.

[0007] Furthermore, the formula for calculating the attitude comprehensive deviation is: Where ΔE is the overall attitude deviation of the tube segment, ΔY is the horizontal yaw deviation, ΔP is the vertical pitch deviation, ΔR is the roll tilt deviation, and K... y K is the yaw deviation weighting coefficient. p K is the pitch deviation weighting coefficient. r This is the roll deviation weighting coefficient.

[0008] Furthermore, the causes of the deviation include uneven formation resistance, imbalance of jacking force, and abnormal articulation angle; the graded adaptive correction strategy includes four modes: steady-state maintenance, micro-correction, large-amplitude correction, and emergency correction.

[0009] Furthermore, the differentiated output allocation of the grouped top cylinders is as follows: the top cylinder corresponding to the deviation direction increases the output, and the top cylinder in the opposite direction decreases the output; the adjustment of the extension and retraction of the articulated cylinder is as follows: the extension and retraction of multiple groups of cylinders are controlled synchronously so that the hinge joint angle matches the design curvature.

[0010] Furthermore, the correction adjustment stroke of the articulated hydraulic cylinder is determined by the following calculation formula: Wherein, ΔL is the stroke of the articulated hydraulic cylinder for correction, η is the correction efficiency coefficient determined by the mechanical properties of the pipe section and geological conditions, ΔE is the overall attitude deviation value, L0 is the reference stroke of the articulated hydraulic cylinder, ξ is the formation disturbance correction coefficient, and f is the normalized value of the formation side resistance. .

[0011] Furthermore, the closed-loop feedback correction is as follows: when the residual deviation exceeds the allowable threshold, the correction parameters are iteratively optimized and a second fine-tuning is performed; the steady-state maintenance mode uses small-amplitude, high-frequency fine-tuning to maintain attitude stability; the attitude trend prediction is completed based on the fitting of attitude deviation data over a continuous period of time; and the proactive intervention is to initiate micro-amplitude pre-control when the predicted deviation is about to exceed the threshold.

[0012] The beneficial effects of this invention are reflected in: In this invention, by transforming from traditional passive correction to active attitude maintenance, the system adapts in real time to attitude changes during the jacking process, ensuring lag-free correction response and significantly reducing cumulative deviation. Through synchronous acquisition of three-dimensional attitude data and comprehensive deviation quantification calculation, it achieves comprehensive discrimination of pitch, yaw, and roll deviations, avoiding the limitations of single-parameter monitoring and significantly improving attitude calculation accuracy. Furthermore, by dynamically generating graded correction strategies based on geological conditions, deviation levels, and jacking conditions, it adapts to complex scenarios such as uneven geological formations and small radii of curvature, preventing excessive or insufficient correction, and ensuring that the axis deviation control accuracy meets the requirements of high-precision construction. The system employs differentiated force distribution in groups of jacking cylinders and synchronous adjustment of articulated cylinders, ensuring uniform stress on pipe sections and smooth transition of articulated joint angles. This effectively avoids problems such as pipe joint cracking, waterstop failure, and pipe section damage, extending the pipeline's service life. Furthermore, it achieves advanced micro-adjustment through attitude trend prediction, proactively offsetting attitude deviation trends and significantly enhancing the ability to cope with ground disturbances, greatly reducing the risk of attitude loss during long-distance jacking. The fully automated adaptive control eliminates the need for real-time manual monitoring and correction, reducing labor intensity and significantly improving construction efficiency, making it suitable for long-distance, deep-buried, and unmanned construction needs. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the method flow of one or more embodiments of the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention 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 the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] Please see Figure 1 This invention discloses an adaptive method for maintaining the attitude of a curved jacking pipe section, comprising: S1. Pre-construction basic parameter calibration and attitude-correction coupling model construction S100. Input curve jacking design parameters: Input the plane curve coordinates, vertical curve elevation, design radius of curvature, total jacking length, and pipe section design axis inclination parameters from the construction design documents into the construction control system to complete the digital modeling of the design trajectory. S101. Collect geological stratification parameters: Obtain data on stratum type, soil density, surrounding rock elastic modulus, groundwater pressure, and stratum lateral resistance distribution along the jacking path through geological exploration data, and complete the digital stratification mapping of geological conditions. S102. Calibrate the mechanical parameters of pipe sections and articulated systems: Determine the geometric dimensions, bending stiffness, allowable rotation angle range of articulated joints, rated stroke and output range of articulated cylinders of single pipe sections, and establish a mechanical response database for pipe section-articulated systems. S103. Constructing an attitude-correction coupled model: Based on the design trajectory, geological parameters, and pipe section mechanical parameters, and integrating rigid body kinematics and geotechnical mechanics theories, a coupled calculation model for pipe section attitude deviation and correction control amount is constructed to provide a calculation basis for subsequent adaptive control.

[0016] S2. Establishment of initial attitude reference for pipe section and system calibration S200 Initial Attitude Positioning: During the initial stage of pipe jacking, the first pipe section is pushed to the preset position of the starting shaft, and the initial pitch angle, yaw angle, roll angle and spatial coordinates of the pipe section are measured and set as the attitude reference values. S201. Monitoring System Calibration: Perform synchronous zero-point calibration on the attitude monitoring equipment to eliminate installation errors and environmental interference, and ensure the consistency and effectiveness of multi-source monitoring data; S202. No-load commissioning of actuators: Perform no-load operation commissioning on articulated cylinders and grouped top cylinders to confirm that the response speed and action synchronization of the actuators meet the control requirements and complete the initial calibration of the control system.

[0017] S3. Real-time synchronous acquisition of multi-source attitude data S300, Pipe Section Attitude Acquisition: Attitude monitoring units are arranged at equal intervals along the axial direction of the jacking pipe section to collect three-dimensional attitude data of pitch angle, yaw angle and roll angle of each pipe section in real time. The acquisition frequency is linked and matched with the jacking speed. S301, Articulated Structure Status Acquisition: Real-time acquisition of the real-time stroke, cylinder extension-extension difference, and actual rotation angle data of the articulated joint between pipe sections of the hydraulic cylinder; S302. Acquisition of jacking working parameters: Real-time acquisition of jacking pressure, jacking speed, jacking stroke of grouped jacking cylinders, as well as soil pressure and ground disturbance displacement data at the jacking face; S303. Data Synchronization Preprocessing: Timestamp alignment, noise filtering, and outlier removal are performed on the collected multi-source data to ensure data real-time performance and accuracy.

[0018] S4. Real-time calculation and anomaly level determination of pipe section attitude deviation S400, Actual Attitude Calculation: Based on three-dimensional attitude data and pipe segment spatial coordinates, calculate the actual spatial attitude matrix and fit the actual jacking axis; S401. Deviation Quantification Calculation: Compare the actual axis with the design trajectory to calculate the plane yaw deviation, vertical pitch deviation, and roll tilt deviation, and combine them with the attitude comprehensive deviation calculation formula to obtain the attitude comprehensive deviation value. The formula for calculating the overall attitude deviation is: Where ΔE is the overall attitude deviation of the tube segment, ΔY is the horizontal yaw deviation, ΔP is the vertical pitch deviation, ΔR is the roll tilt deviation, and K... y K is the yaw deviation weighting coefficient. p K is the pitch deviation weighting coefficient. r This is the roll deviation weighting coefficient; S402. Deviation Anomaly Judgment: The overall attitude deviation value is compared with the preset deviation threshold, and divided into four levels: no deviation, slight deviation, moderate deviation, and severe deviation, providing a quantitative basis for the correction strategy.

[0019] S5, Dynamic Generation of Adaptive Correction Strategy S500, Deviation Cause Matching: Combining geological stratification data, determine whether the deviation is caused by a single or combined factor such as uneven formation resistance, unbalanced jacking force, or abnormal hinge angle. S501, Dynamic calculation of correction parameters: Based on the attitude-correction coupling model, combined with deviation level, geological conditions, and jacking speed, the target rotation angle of the articulated cylinder and the target output distribution ratio of the grouped jacking cylinder are dynamically calculated. S502, Strategy Hierarchical Adaptation: For different deviation levels, four adaptive strategies are generated: steady-state maintenance, micro-correction, large-amplitude correction, and emergency correction, to avoid excessive correction that could lead to secondary attitude imbalance.

[0020] S6, Grouped top cylinder force coordinated distribution and precise control of articulated hydraulic cylinder S600, Group Top Cylinder Force Distribution: Based on the deviation direction and magnitude, the output adjustment ratio of each group top cylinder is calculated using the attitude-correction coupling model; when the yaw deviation is to the right, the right top cylinder increases its output according to the calculated ratio, and the left top cylinder decreases its output according to the calculated ratio, thereby achieving directional control of the jacking force; S601, Synchronous and precise adjustment of articulated hydraulic cylinders: According to the target rotation angle, the extension and retraction of multiple sets of articulated hydraulic cylinders between pipe sections are adjusted synchronously to control the articulated joint to form a bend angle that matches the design curvature and fit the design curve. S602. Smooth transition of control action: Gradual control rate is adopted to avoid pipe section impact caused by sudden changes in the action of the actuator, and to ensure a smooth control process. The correction stroke of the articulated hydraulic cylinder is determined by the following formula:

[0021] Wherein, ΔL is the stroke of the articulated hydraulic cylinder for correction, η is the correction efficiency coefficient which is determined by the mechanical properties of the pipe section and the geological conditions, ΔE is the comprehensive attitude deviation value, L0 is the reference control stroke of the articulated hydraulic cylinder, ξ is the formation disturbance correction coefficient, and f is the normalized value of the formation side resistance.

[0022] S7. Attitude Closed-Loop Feedback Correction and Steady-State Maintenance S700, Post-correction attitude retest: After the control action is executed, the pipe section attitude data is immediately re-acquired, and the actual deviation value after correction is calculated. S701, Deviation Closed-Loop Correction: If the residual deviation exceeds the allowable range, iteratively optimize the correction parameters and perform fine-tuning control a second time until the deviation is reduced to within the allowable threshold. S702, Steady-state attitude maintenance: After the deviation reaches the target, switch to steady-state maintenance mode to maintain the stability of the pipe section attitude with small-amplitude, high-frequency fine-tuning and suppress random attitude fluctuations.

[0023] S8. Posture Trend Prediction and Proactive Intervention: S800, Historical Data Fitting: Collects attitude deviation data over a continuous period of time and uses a trend fitting algorithm to predict the attitude change trend within a future set period of time. S801, Proactive Intervention Trigger: When the prediction deviation is about to exceed the allowable threshold, a micro-amplitude pre-adjustment is initiated in advance to counteract the attitude deviation trend and achieve proactive proactive intervention; S802, Geological Disturbance Adaptation: For geological sections prone to sudden changes in orientation, such as soft-hard interfaces and cavities, the frequency of advance intervention is increased to improve the adaptability of the formation.

[0024] S9. Construction data archiving and model iteration optimization: S900, Full-process data archiving: The attitude data, control parameters, geological data, and deviation data during the jacking process are stored in the database in real time to form a complete construction data archive; S901. Model Iteration and Optimization: Based on measured data and control effects, the parameters of the attitude-correction coupling model are corrected to improve the model calculation accuracy and control adaptability of subsequent construction sections.

[0025] In practice, by shifting from traditional passive correction to active attitude maintenance, the system adapts in real time to attitude changes during the jacking process, ensuring lag-free correction response and significantly reducing cumulative deviation. Through synchronous acquisition of three-dimensional attitude data and comprehensive deviation quantification calculation, it achieves comprehensive identification of pitch, yaw, and roll deviations, avoiding the limitations of single-parameter monitoring and significantly improving attitude calculation accuracy. Furthermore, by dynamically generating graded correction strategies based on geological conditions, deviation levels, and jacking conditions, it adapts to complex scenarios such as uneven geological formations and small curvature radii, preventing excessive or insufficient correction, and ensuring that the axis deviation control accuracy meets the requirements of high-precision construction. The system employs differentiated force distribution of grouped jacking cylinders and synchronous adjustment of articulated cylinders, ensuring uniform stress on pipe sections and smooth transition of articulated joint angles. This effectively avoids problems such as pipe joint cracking, waterstop failure, and pipe section damage, extending the pipeline's service life. Furthermore, it utilizes attitude trend prediction for advanced micro-adjustment, proactively offsetting attitude deviation trends and significantly enhancing the ability to cope with ground disturbances, greatly reducing the risk of attitude loss during long-distance jacking. The fully automated adaptive control eliminates the need for real-time manual monitoring and correction, reducing labor intensity and significantly improving construction efficiency, making it suitable for long-distance, deep-buried, and unmanned construction needs.

[0026] Example 1: Project Overview: The total jacking length is 860m, ​​with a designed plane curvature radius R=300m and a gentle vertical curve. Each pipe section has an inner diameter of 2.4m and a length of 2.5m. The jacking path traverses three strata: silty clay, silt, and gravel. A soft-hard interface exists at 200m and 550m, and the groundwater depth is 3.2m. Construction requires an axial deviation of ≤±5mm, continuous and stable pipe section posture, and no joint cracking or waterstop failure. The construction is carried out using the curve jacking pipe section posture adaptive maintenance method described in this invention. The specific implementation steps are as follows: S1. Pre-construction basic parameter calibration and attitude-correction coupling model construction S100, Design Parameter Input: Input the X / Y coordinate sequence of the plane curve, the vertical elevation design value, the radius of curvature 300m, the jacking length 860m, ​​and the inclination parameters of the pipe section design axis into the construction control system, and generate a continuous set of design axis coordinate points through digital modeling; S101. Geological Parameter Acquisition: Integrate the geological survey report, divide the jacking path into 0-200m silty clay layer, 200-550m silty sand layer, and 550-860m gravel layer, and record the measured data of soil density, surrounding rock elastic modulus, groundwater pressure, and stratum side resistance of each layer, complete the digital mapping of geological stratification, and clarify the location of the soft and hard interface; S102. Mechanical parameter calibration: Determine the geometric dimensions of the pipe section (inner diameter 2.4m, outer diameter 2.8m, single section length 2.5m), bending stiffness, allowable rotation angle range of the hinge joint ±3°, rated stroke of the hinge cylinder 0-150mm, rated output force 0-500kN, and establish a mechanical response database for the pipe section-hinged system. S103. Coupled Model Construction: Based on the design trajectory, three-layer geological parameters, and pipe section mechanical parameters, and integrating rigid body kinematics and geotechnical mechanics theories, an attitude-correction coupled model suitable for this project is constructed, and basic parameters such as weight coefficients and correction coefficients are determined.

[0027] S2. Establishment of initial attitude reference for pipe section and system calibration S200 Initial Attitude Positioning: After the construction of the starting well is completed, the first pipe section is pushed to the preset starting position, and the initial pitch angle of the pipe section is measured to be 0.12°, yaw angle to be 0.08°, and roll angle to be 0.05°. The spatial coordinates coincide with the design starting point, and the above data are set as the attitude reference values. S201. Monitoring system calibration: Perform synchronous zero-point calibration on the attitude monitoring equipment to eliminate initial errors caused by installation deviations and environmental vibrations, and ensure the consistency of multi-source data; S202. Actuator debugging: Perform no-load operation debugging on the hydraulic cylinders of the pipe section articulation and the group top cylinders of the machine head to confirm that the actuator response is without delay and the action is synchronized, and complete the initial calibration of the control system.

[0028] S3. Real-time synchronous acquisition of multi-source attitude data S301. Pipe section attitude acquisition: One attitude monitoring unit is set up every 5 pipe sections along the jacking pipe section axis to collect three-dimensional attitude data of pitch angle, yaw angle and roll angle in real time. The jacking speed is 20mm / min and the data acquisition frequency is 1 time / second. S302, Articulation Status Acquisition: Real-time acquisition of the articulation cylinder's real-time stroke, cylinder extension-retraction difference, and actual rotation angle of the articulation joint, with data uploaded once every 0.5 seconds; S303, Jacking Condition Data Acquisition: Real-time acquisition of grouped jacking cylinder jacking pressure, jacking stroke, and jacking speed, and synchronous acquisition of soil pressure and lateral displacement data of the jacking face; S304. Data Preprocessing: Add a uniform timestamp to all data, use Gaussian filtering to remove environmental noise, and filter out discrete outliers caused by instantaneous formation disturbances to ensure data validity.

[0029] S4. Real-time calculation and anomaly level determination of pipe section attitude deviation S400, Actual Attitude Calculation: Based on three-dimensional attitude data and pipe segment spatial coordinates, calculate the actual spatial attitude matrix and fit the actual jacking axis; S401. Deviation Quantification Calculation: Compare the actual axis with the design trajectory, calculate the planar yaw deviation ΔY, vertical pitch deviation ΔP, and roll deviation ΔR, and substitute them into the following formula to calculate the comprehensive attitude deviation value ΔE in real time. The formula is: S402, Deviation Level Judgment: Preset thresholds: No deviation ΔE≤1mm, slight deviation 1mm<ΔE≤3mm, moderate deviation 3mm<ΔE≤5mm, severe deviation>5mm. The control system automatically classifies the deviation level.

[0030] S5, Dynamic Generation of Adaptive Correction Strategy S500, Deviation Cause Matching: Deviation in silty clay layer is caused by uneven lateral resistance of strata, deviation in silt layer is caused by slight imbalance of jacking force, and deviation in gravel layer is caused by a combination of strata disturbance and slight deviation of hinge angle. S501. Correction parameter calculation: Based on the attitude-correction coupling model, combined with deviation level, geological type, and jacking speed, dynamically calculate the target rotation angle of the articulated cylinder and the force distribution ratio of the grouped jacking cylinders. S502, Graded Strategy Generation: Unbiased execution maintains steady state, slight deviation executes minor correction, moderate deviation executes major correction, and severe deviation triggers emergency correction.

[0031] S6, Grouped top cylinder force coordinated distribution and precise control of articulated hydraulic cylinder S600, Grouped Top Cylinder Force Distribution: When the yaw deviation is to the right, the output of the right top cylinder increases by 10%-15%, and the output of the left top cylinder decreases by 5%-10%; when the vertical deviation is downward, the output of the lower top cylinder increases, and the output of the upper top cylinder decreases, thus achieving directional control of the jacking force; S601, Articulated Cylinder Adjustment: The extension and retraction of the articulated cylinder are adjusted synchronously according to the target rotation angle. The correction adjustment amount is calculated using the following formula to obtain the precise adjustment stroke, ensuring the articulated joint angle matches the 300m radius of curvature. The formula is: S602, Smooth Transition Control: Gradual speed is adopted, and the correction action is completed in 5-10 seconds to avoid impact on the pipe section.

[0032] S7. Attitude Closed-Loop Feedback Correction and Steady-State Maintenance S700, Attitude Retest After Correction: The attitude is retested immediately after the adjustment is completed, and the residual comprehensive deviation ΔE' is calculated. S701, Closed-loop correction: If >1mm, iteratively optimize the parameters and fine-tune them a second time until ΔE'≤1mm; S702, Steady-state hold: After the deviation reaches the target, switch to steady-state mode and perform small-amplitude fine adjustments of ±0.5mm every 2 seconds to suppress attitude fluctuations.

[0033] S8. Posture Trend Prediction and Proactive Intervention and Control S800, Trend Prediction: Collects deviation data for 30 consecutive seconds and uses linear fitting to predict the attitude change trend for the next 10 seconds. S801, Proactive Intervention: When it is predicted that ΔE will exceed 3mm, the stroke of the articulated cylinder is adjusted by 0.5-1mm in advance to counteract the offset trend; S802, Geological Adaptation: The prediction frequency for the soft-hard interface segment will be increased to once every 5 seconds, strengthening proactive intervention.

[0034] S9. Construction Data Archiving and Model Iteration Optimization S900 Data Archiving: Archive posture, correction, geology, deviation, and control effect data according to construction pile number to form a complete project archive; S901, Model Optimization: Based on 860m measured data, the parameters of the coupled model were corrected, and the model calculation error was reduced to within 0.5mm.

[0035] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0037] Additionally, "multiple" refers to two or more.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for adaptively maintaining the attitude of a curved pipe jacking segment, characterized in that, include: S1. Pre-construction foundation parameter calibration and attitude-correction coupling model construction: Input the design parameters of the curved pipe jacking to complete the digital modeling of the design trajectory, collect the geological stratification parameters of the jacking path to complete the digital stratification mapping of geological conditions, calibrate the mechanical parameters of the pipe section and articulation system to establish a mechanical response database, and construct an attitude-correction coupling model based on the digital model of the design trajectory, the geological condition stratification mapping data and the mechanical response database. S2. Establishment of initial attitude reference for pipe section and system calibration: In the initial stage of pipe jacking, the initial attitude of the first pipe section is determined and set as the attitude reference value. The multi-source monitoring equipment is synchronously zero-point calibrated, and the articulated cylinder and the grouped jacking cylinder are tested under no-load conditions. S3. Real-time synchronous acquisition of multi-source attitude data: Three-dimensional attitude data of pipe sections are collected at equal intervals. At the same time, the stroke and joint rotation data of articulated cylinders, as well as the working conditions of grouped top cylinders and formation disturbance data are collected in real time. The collected multi-source data are processed by timestamp alignment, noise filtering and outlier removal. S4. Real-time calculation of pipe section attitude deviation and anomaly level judgment: The actual spatial attitude matrix of the tube segment is calculated based on the three-dimensional attitude data, and three types of deviations, namely planar yaw deviation, vertical pitch deviation and roll tilt deviation, are calculated. The comprehensive deviation value is obtained by the attitude comprehensive deviation calculation formula, and then the comprehensive deviation value is compared with a preset threshold to classify the deviation level. S5. Dynamic generation of adaptive correction strategy: The causes of the mismatch are identified, and the correction parameters are dynamically calculated based on the attitude-correction coupling model. A graded adaptive correction strategy is then generated for the mismatch level. S6. Grouped top cylinder force coordinated distribution and precise control of articulated hydraulic cylinder: According to the aforementioned correction strategy, the grouped top cylinders are allocated power differently, and the extension and retraction of the articulated cylinders are adjusted synchronously to control the angle of the articulated joint. The control action is completed by using a gradual rate. S7. Attitude closed-loop feedback correction and steady-state maintenance: After retesting the corrected pipe section attitude data, the residual deviation is iteratively fine-tuned and corrected. Once the deviation reaches the target, the steady-state holding mode is switched to suppress attitude fluctuations. S8. Posture Trend Prediction and Proactive Intervention: Historical attitude data is fitted to predict attitude change trends, triggering proactive control to counteract offsetting trends, and enhanced proactive intervention for complex geological sections. S9. Construction data archiving and model iteration optimization: Archive all construction data and correct the parameters of the attitude-correction coupling model based on the measured data.

2. The adaptive attitude maintenance method for curved pipe jacking sections according to claim 1, characterized in that: The design parameters for curved pipe jacking include plane curve coordinates, vertical curve elevation, design radius of curvature, total jacking length, and design axis inclination angle of the pipe section; the geological stratification parameters include stratum type, soil density, surrounding rock elastic modulus, groundwater pressure, and stratum lateral resistance distribution; the mechanical parameters of the pipe section and articulation system include pipe section geometry, bending stiffness, allowable rotation angle range of the articulation joint, and rated stroke and output range of the articulation cylinder; the three-dimensional attitude data of the pipe section includes pitch angle, yaw angle, and roll angle.

3. The adaptive attitude maintenance method for curved pipe jacking sections according to claim 1, characterized in that: The formula for calculating the overall attitude deviation is: Where ΔE is the overall attitude deviation of the tube segment, ΔY is the horizontal yaw deviation, ΔP is the vertical pitch deviation, ΔR is the roll tilt deviation, and K... y K is the yaw deviation weighting coefficient. p K is the pitch deviation weighting coefficient. r This is the roll deviation weighting coefficient.

4. The adaptive attitude maintenance method for curved pipe jacking sections according to claim 1, characterized in that: The causes of the deviation include uneven formation resistance, imbalance of jacking force, and abnormal articulation angle; the graded adaptive correction strategy includes four modes: steady-state maintenance, micro-correction, large-amplitude correction, and emergency correction.

5. The adaptive attitude maintenance method for curved pipe jacking sections according to claim 1, characterized in that: The differentiated output allocation of the grouped top cylinders is as follows: the top cylinder corresponding to the deviation direction increases the output, and the top cylinder in the opposite direction decreases the output; the adjustment of the extension and retraction of the articulated cylinder is as follows: the extension and retraction of multiple groups of cylinders are controlled synchronously so that the angle of the articulated joint matches the design curvature.

6. The adaptive attitude maintenance method for curved pipe jacking sections according to claim 1, characterized in that: The correction and adjustment stroke of the articulated hydraulic cylinder is determined by the following formula: Wherein, ΔL is the stroke of the articulated hydraulic cylinder for correction, η is the correction efficiency coefficient which is determined by the mechanical characteristics of the pipe section and the geological conditions, ΔE is the comprehensive attitude deviation value, L0 is the reference stroke of the articulated hydraulic cylinder, ξ is the formation disturbance correction coefficient, and f is the normalized value of the formation side resistance.

7. The adaptive attitude maintenance method for curved pipe jacking sections according to claim 1, characterized in that: The closed-loop feedback correction is as follows: when the residual deviation exceeds the allowable threshold, the correction parameters are iteratively optimized and a second fine-tuning is performed; the steady-state maintenance mode uses small-amplitude, high-frequency fine-tuning to maintain attitude stability; the attitude trend prediction is completed by fitting attitude deviation data over a continuous period of time; and the proactive intervention is to initiate micro-amplitude pre-control when the predicted deviation is about to exceed the threshold.

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