Combined guiding and positioning device for pile sinking of high-piled wharf PHC pile and construction method

Abstract

The application discloses a combined guiding and positioning construction method for pile sinking of a PHC pile of a high-pile wharf, and belongs to the technical field of pile sinking on water. In view of the problem that an existing guiding device cannot self-adaptively adjust a constraint force, the application adopts the following scheme: a guiding device with an independent fine adjustment mechanism is installed on the periphery of a PHC pile to form multi-point constraint; during pile sinking, force response and displacement response are passively collected through a vibration sensor and a force sensor, and the overall vibration mode of the pile body is collected through an acceleration sensor; local dynamic stiffness values and modal damping ratio indexes of contact points are identified in real time based on the above responses; when the stiffness or the mode deviates from a threshold value, an adjustment instruction vector is generated to perform iterative adjustment until global balance is achieved. The application is mainly used for pile sinking construction of a PHC pile of a high-pile wharf on water, can automatically balance the constraint force distribution, improves pile sinking precision, and protects the quality of the pile body.

Description

Technical Field

[0001] This invention relates to the field of underwater pile driving construction technology. More specifically, this invention relates to a combined guiding and positioning device and construction method for underwater pile driving of PHC piles for high-pile wharves. Background Technology

[0002] High-pile wharves are a common structural form in port engineering, and their foundations typically use PHC piles (prestressed high-strength concrete pipe piles). During offshore pile driving construction, due to interference from external environmental factors such as wind, waves, and currents, as well as the complexity of geological conditions, the driving accuracy and pile quality control of PHC piles are key technical challenges in construction.

[0003] Existing waterborne pile driving guidance and positioning devices mainly include detachable guidance devices, fixed guidance devices, and straddle-type guidance devices. Among them, detachable guidance devices are mainly suitable for construction in waters with good wave conditions and on land, but they need to be used in conjunction with auxiliary piles, resulting in low efficiency. In deep-water rivers with high current speeds and in sea areas with severe wind and waves, the auxiliary piles will sway due to the force of water flow or waves, making it difficult to guarantee positioning accuracy. Fixed guidance devices are generally used in conjunction with pile driving vessels, but their applicable range is limited by the pile driving vessel, resulting in low construction efficiency and difficulty in adapting to harsh sea conditions. Although straddle-type guidance devices do not require separate construction of support piles and can position relatively quickly, they are cantilever structures, resulting in a limited number of piles that can be positioned at a time. When the engineering piles sway due to the force of water flow or waves, it is also difficult to guarantee positioning accuracy.

[0004] In existing guide frame structures, the most common type is the large-volume and heavy steel truss guide frame, which is fixed by positioning piles using brackets or clamps. This type of guide frame is a suspended structure, and its load-bearing capacity mainly relies on the strength and rigidity of the steel truss or steel beams themselves. Complex stress calculations are required during structural design, demanding a high level of expertise from designers. Furthermore, steel truss or steel beam guide frames consume a large amount of steel, resulting in high manufacturing costs and long production cycles. Installation also requires sophisticated hoisting equipment and skilled personnel, and the relocation and installation process is time-consuming.

[0005] In addition, in terms of the design of the guide frame at the pile opening, the existing technology usually sets rubber fenders or roller devices inside the pile opening to reduce the frictional resistance between the pile and the guide structure. However, this passive guidance method cannot adaptively adjust according to the actual posture and constraint state of the pile during the pile driving process. When the pile is subjected to uneven lateral force, it is easy to produce verticality deviation, or even cause the pile to crack.

[0006] Therefore, there is an urgent need for a waterborne pile driving guidance and positioning device and method capable of real-time sensing of the pile's constraint state and automatic adjustment of the constraint force distribution, in order to improve pile driving accuracy and pile quality. (Summary of the Invention)

[0007] One object of the present invention is to provide a combined guiding and positioning construction method for PHC pile driving in water at high-pile wharves, comprising the following steps:

[0008] S1. Install a guide device with multiple independent fine-tuning mechanisms around the PHC pile to be sunk, and make each fine-tuning mechanism contact the outer wall of the PHC pile to form a multi-point flexible constraint.

[0009] S2. During the pile driving process, the following automatic constraint adjustment process is continuously executed through the closed-loop control system:

[0010] S2a. Vibration sensors and force sensors installed on each fine-tuning mechanism passively acquire the passive vibration response signals generated by the PHC pile under the action of pile driving hammer or vibration. The passive vibration response signals include the force response and displacement response at the contact points of each fine-tuning mechanism. At the same time, an acceleration sensor is installed on the PHC pile body to acquire the passive overall vibration modal response of the pile body.

[0011] 2b. Based on force and displacement responses, the current local dynamic stiffness value k at the contact point between each fine-tuning mechanism and the PHC pile is identified in real time. i Where i is the fine-tuning mechanism number, and based on the overall vibration modal response, the current bending and torsional modal parameters of the pile body are identified, generating the modal damping ratio index Z characterizing the uniformity of pile body constraint. m ;

[0012] 2c. Calculate the average stiffness value k of all current local dynamic stiffness values. avg And determine each k i With k avg stiffness deviation Δk i And determine the modal damping ratio index Z. m The modal deviation ΔZ between the preset optimal damping ratio Z0 and the actual damping ratio Z0;

[0013] 2d, when the maximum absolute deviation max(|Δk) i |)> the first preset threshold T1, or the modal deviation ΔZ is greater than the modal threshold T Z At that time, initiate the joint optimization and adjustment process:

[0014] Based on Δk of all fine-tuning mechanisms i ΔZ, through a pre-trained constraint optimization model, generates adjustment command vectors ΔP for all fine-tuning mechanisms, where ΔP = [ΔP1, ΔP2, ..., ΔP...]. n ] T Where n is the total number of fine-tuning mechanisms, T The matrix transpose symbol indicates that this array is a vertically arranged column vector. The adjustment command vector is used to simultaneously minimize the non-uniformity of stiffness distribution.

[0015] After executing the adjustment command, wait for the control unit's response cycle, and then passively acquire the vibration response signal again.

[0016] And update k synchronously i and Z m Repeat the process described in steps 2a to 2d, iterating until max(|Δk) is reached. i |) < the second preset threshold T2, and ΔZ < the modal convergence threshold T Zc Where T2 < T1, T Zc <T Z Complete the global optimal joint equilibrium of the constraint state of PHC piles within the guiding device;

[0017] S3. Maintain the state of the guide device after the constraint stiffness is balanced, and continue the driving operation of PHC piles.

[0018] Preferably, the specific steps for generating the adjustment instruction vector ΔP in step S2d include:

[0019] For each fine-tuning mechanism, the adjustment amount ΔP i Based on the stiffness deviation Δk at that point i Calculate ΔP using a pre-stored linear or piecewise linear control law. i =α×Δk i , where α is a preset proportional coefficient, which is pre-calibrated based on the mechanical characteristics of the guide device and the response characteristics of the hydraulic system;

[0020] Construct modal damping compensation logic: When the modal deviation ΔZ is greater than the modal threshold TZ, apply a uniform additional adjustment ΔP to all fine-tuning mechanisms. mode =β×ΔZ, where β is a preset modal compensation coefficient used to adjust the overall constraint stiffness level to optimize modal damping characteristics;

[0021] The stiffness equalization adjustment and the modal compensation adjustment are superimposed to obtain the final adjustment command ΔP for each fine-tuning mechanism. i =α×Δk i +β×ΔZ / n, where n is the total number of fine-tuning mechanisms, ensuring that modal compensation commands are evenly distributed to all fine-tuning mechanisms.

[0022] Preferably, the acquisition timing of the passive vibration response signal is synchronously triggered according to the interval between pile driving hammering or vibration:

[0023] When a downtime of pile driving hammering or vibration equipment is detected, the control unit triggers the acquisition and processing of a passive vibration response signal.

[0024] The duration of each acquisition window is fixed at a preset value Ta to ensure that the acquired signal length is sufficient to meet the frequency resolution requirements for modal parameter identification.

[0025] Preferably, the local dynamic stiffness value k is identified in real time in step 2b. i The method is as follows:

[0026] The collected force and displacement responses are subjected to fast Fourier transform to obtain the frequency response function H(ω);

[0027] The amplitude of the frequency response function H(ω) at the preset characteristic frequency ω0 is extracted and used as the local dynamic stiffness value k of the fine-tuning mechanism. i , where k i =|F(ω0) / X(ω0)|, where F(ω0) is the amplitude of the force response spectrum at ω0, and X(ω0) is the amplitude of the displacement response spectrum at ω0.

[0028] Preferably, during the closed-loop control process, the control unit also monitors the rate of change dP / dt of the contact pressure of each fine-tuning mechanism. If the rate of change dP / dt of any fine-tuning mechanism exceeds the preset abrupt change threshold R, the control unit will take action. max If the current differential adjustment is not triggered, the control unit will immediately pause the current adjustment and trigger the emergency buffer mode, controlling all fine-tuning mechanisms to synchronously reduce the contact pressure to a safe level. After the rate of change dP / dt returns to the normal range, the closed-loop control process will resume.

[0029] Preferably, during the closed-loop control process, the control unit also performs a sensor self-test step:

[0030] When an abnormality is detected in the force sensor or displacement sensor signal on a fine-tuning mechanism, the control unit marks that fine-tuning mechanism as a failed unit and determines the failure based on the local dynamic stiffness value k of the fine-tuning mechanisms adjacent to that failed unit. i And estimate the replacement stiffness value K to replace the k of the failed element. i Participate in balanced assessment and differentiated adjustment.

[0031] Preferably, the alternative stiffness value K is estimated through the following steps:

[0032] Centered on the fine-tuning mechanism marked as a failed unit, determine M normally functioning fine-tuning mechanisms on the left and right sides of its circumference, where M is a preset positive integer, forming a local interpolation region composed of 2M reference fine-tuning mechanisms.

[0033] Obtain the current stable local dynamic stiffness value k of each reference fine-tuning mechanism from the local interpolation region. j and the central angle θ between it and the failed element. j Where j is the reference fine-tuning mechanism number, j=1,2,...,2M;

[0034] If there exists any circle whose central angle θ ja reference trimming mechanism that is zero, directly assign the substitute stiffness value K to the local dynamic stiffness value k of the reference trimming mechanism j ; otherwise, calculate according to , where w j =1 / θ j ;

[0035] Assign the substitute stiffness value K to the failed element as its local dynamic stiffness value k j , and retain the marking state of the failed element, continuously use the substitute stiffness value in subsequent iterations until the sensor signal returns to normal or manual intervention is performed.

[0036] Preferably, during the iteration process of step S2d, the control unit further executes the following iteration stability control steps:

[0037] Calculate the command deviation vector δP(t)=ΔP(t)-ΔP(t-1) between the adjustment command vector ΔP(t) of the current iteration step and the adjustment command vector ΔP(t-1) of the previous iteration step;

[0038] Calculate the infinity norm ||δP(t)||∞ of the command deviation vector δP(t), and compare it with the preset oscillation detection threshold Tosc:

[0039] When ||δP(t)||∞≥Tosc, it is determined that there is an oscillation trend in the current iteration process;

[0040] When ||δP(t)||∞<Tosc, it is determined that the current iteration process is stably convergent;

[0041] When it is determined that there is an oscillation trend, the control unit triggers an iteration damping mechanism:

[0042] Apply a damping factor γ to the adjustment command vector ΔP(t) generated in the current iteration step to obtain a corrected adjustment command vector ΔP'(t): ΔP'(t)=ΔP(t-1)+γ×δP(t), where γ is a fixed basic damping coefficient with a value of 0.5;

[0043] Use the corrected adjustment command vector ΔP'(t) to replace ΔP(t) to perform joint optimization adjustment, and continue subsequent iterations until the convergence condition is satisfied.

[0044] A combined guiding and positioning device for underwater pile driving of PHC piles of high-pile wharf is provided, which adopts the above-mentioned combined guiding and positioning construction method for underwater pile driving of PHC piles of high-pile wharf, and the device comprises:

[0045] A guiding frame, which is formed by connecting at least two semi-annular frame units in an openable and closable manner through hinges and locking mechanisms;

[0046] Multiple mounting seats are evenly spaced along the inner circumferential surface of the guide frame, and each mounting seat is provided with an adjustment elongated hole extending radially along the guide frame.

[0047] Multiple fine-tuning mechanisms, each including:

[0048] A hydraulic cylinder, the cylinder body of which is fixed to the mounting base, and the piston rod of which extends radially toward the PHC pile;

[0049] A swing contact head is connected to the end of the piston rod via a ball joint;

[0050] A flexible gasket is fixed to the surface of the oscillating contact head that contacts the PHC pile;

[0051] Multiple integrated sensor assemblies, each sensor assembly including:

[0052] Force sensor, which is located on the piston rod of the hydraulic cylinder or at the connection between the swing contact head and the piston rod;

[0053] Vibration sensor, which is installed between the cylinder body and piston rod of the hydraulic cylinder or on the mounting base;

[0054] At least one acceleration sensor is mounted on the guide frame or the PHC pile.

[0055] The control unit is electrically connected to the force sensor, vibration sensor, acceleration sensor, and hydraulic control valve group of the fine-tuning mechanism, wherein the hydraulic control valve group of the fine-tuning mechanism is a proportional servo valve or a high-speed switching valve.

[0056] Preferably, it also includes:

[0057] Multiple positioning guide pulley groups are evenly distributed along the circumference of the guide frame. Each positioning guide pulley group includes at least two guide wheels arranged in the vertical direction. The wheel surface of the guide wheel makes rolling contact with the outer wall of the PHC pile.

[0058] The wireless communication module, located within the control unit, is used to upload real-time data collected by the control unit to the shore-based monitoring center and to receive remote control commands issued by the shore-based monitoring center.

[0059] The present invention has at least the following beneficial effects:

[0060] First, this invention passively collects the vibration response signals of the pile body during the pile driving process using vibration sensors, force sensors, and acceleration sensors. It identifies the local dynamic stiffness values ​​of the contact points of each fine-tuning mechanism and the overall modal damping ratio of the pile body in real time. Based on stiffness deviation and modal deviation, it automatically generates adjustment commands. Through closed-loop iteration, it makes the constraint stiffness distribution of each contact point tend to be uniform, which solves the problem that existing fixed guide frames or spur guide frames cannot adaptively adjust the constraint force according to the pile body posture during the pile driving process. It avoids the verticality deviation of the pile body caused by uneven constraint and effectively improves the pile driving accuracy.

[0061] Secondly, this invention employs a ball-joint-connected swing-type contact head and a flexible liner to contact the outer wall of the PHC pile, achieving adaptive fit of the contact surface. The control unit monitors the rate of change of contact pressure in each fine-tuning mechanism in real time. When a sudden pressure change is detected, the control unit immediately triggers an emergency buffer mode, simultaneously reducing the contact pressure of all fine-tuning mechanisms to a safe level. This effectively solves the problem of localized stress concentration caused by rigid contact in existing guide devices, as well as the impact damage to the pile body caused by sudden changes in constraint force due to external disturbances (such as waves and water flow), significantly reducing the risk of cracking in PHC piles during the pile driving process.

[0062] Third, the present invention adopts a split guide frame, which is composed of at least two semi-circular frame units that are connected in an openable and closable manner through hinges and locking mechanisms. The mounting base is provided with radially extending adjustment elongated holes, which can flexibly adjust the distance between the fine-tuning mechanism and the outer wall of the PHC pile to adapt to PHC piles of different diameters. At the same time, the setting of the positioning guide pulley group reduces the frictional resistance between the pile body and the guide device. Compared with the bulky and costly steel truss guide frame or the detachable guide device that requires auxiliary pile fixing in the prior art, the structure of the present invention is more compact and easy to assemble and disassemble. It does not require large ship machinery equipment to lift and position it at one time, which reduces the construction preparation time and cost and improves the adaptability to different pile diameters and different construction environments.

[0063] Fourth, this invention introduces a sensor self-checking and fault tolerance mechanism in the closed-loop control process. When the sensor signal on a certain fine-tuning mechanism is abnormal, the control unit automatically marks it as a failed unit and estimates the replacement stiffness value based on the stiffness value of the adjacent normally operating fine-tuning mechanism using a weighted average method, so that the system can continue to operate stably. This overcomes the defect of existing guiding devices where sensors are prone to failure due to high humidity and high vibration in harsh water construction environments, leading to the paralysis of the control system, and ensures the continuity and reliability of pile driving operations.

[0064] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the overall structure of the guiding and positioning device according to one of the technical solutions of the present invention;

[0066] Figure 2 This is an enlarged cross-sectional detail view of the sensor assembly according to one of the technical solutions of the present invention.

[0067] The markings in each of the attached figures are as follows:

[0068] 1. Guide frame; 11. Semi-circular frame unit; 12. Hinge; 13. Lifting lug; 2. Mounting base; 21. Adjustment elongated hole; 3. Fine-tuning mechanism; 31. Hydraulic cylinder; 32. Piston rod; 33. Swinging contact head; 34. Flexible pad; 4. Sensor assembly; 41. Force sensor; 42. Vibration sensor; 43. Acceleration sensor; 5. Control unit; 51. Hydraulic control valve assembly; 52. Wireless communication module; 6. Positioning guide pulley assembly; 61. Guide wheel; 7. PHC pile. Detailed Implementation

[0069] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0070] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified. In the description of this invention, the orientation or positional relationship indicated by the terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0071] This invention provides a combined guiding and positioning construction method for PHC piles used in underwater pile driving at high-pile wharves, comprising the following steps:

[0072] S1. A guide device comprising multiple independent fine-tuning mechanisms is installed around the periphery of the PHC pile to be driven in, with each fine-tuning mechanism in contact with the outer wall of the PHC pile to form a multi-point flexible constraint. Specifically, the guide device can be a split guide frame, consisting of at least two semi-circular frame units connected by hinges and locking mechanisms. During construction, the semi-circular frame units are first opened and fitted around the PHC pile, then closed and locked by the locking mechanism to complete the installation. Multiple mounting seats are evenly spaced along the inner circumference of the guide frame, each mounting seat having an adjustment elongated hole extending radially along the guide frame. The initial distance between the fine-tuning mechanism and the outer wall of the PHC pile can be adjusted through this adjustment elongated hole to accommodate different diameters. The number of fine-tuning mechanisms for PHC piles can be selected as 6, 8, or 12. Each fine-tuning mechanism includes a hydraulic cylinder, a swing contact head, and a flexible pad. The cylinder body of the hydraulic cylinder is fixed to the mounting base by bolts, and its piston rod extends radially toward the PHC pile. The swing contact head is connected to the end of the piston rod by a ball joint. The ball joint allows the swing contact head to swing freely in multiple directions to adapt to the curved shape of the outer wall of the PHC pile. The flexible pad is fixed to the surface of the swing contact head that contacts the PHC pile. The flexible pad can be made of vulcanized rubber. During operation, the control unit sends an initial pressure command to each hydraulic cylinder, so that the swing contact head contacts the outer wall of the PHC pile through the flexible pad, forming a multi-point flexible constraint.

[0073] S2. During the pile driving process, the following automatic constraint adjustment process is continuously executed through the closed-loop control system:

[0074] S2a. Vibration sensors and force sensors installed on each fine-tuning mechanism passively acquire the passive vibration response signals generated by the PHC pile under the action of pile driving hammer or vibration. The passive vibration response signals include the force response and displacement response at the contact points of each fine-tuning mechanism. Simultaneously, an acceleration sensor is installed on the PHC pile body to acquire the passive overall vibration modal response of the pile body. Specifically, the force sensor can be installed on the piston rod of the hydraulic cylinder or at the connection between the swing contact head and the piston rod to acquire the contact pressure applied to the PHC pile by the fine-tuning mechanism in real time. The vibration sensor can be installed between the cylinder body and the piston rod of the hydraulic cylinder or on the mounting base to acquire the contact pressure applied to the PHC pile by the fine-tuning mechanism in real time. The displacement response generated by pile hammering or vibration is collected by an accelerometer mounted on the guide frame or the PHC pile body. The accelerometer is used to collect the overall vibration modal response of the PHC pile. The timing of passive vibration response signal acquisition can take advantage of the natural interval of pile hammering or vibration equipment. For example, when the pile hammering or vibration equipment stops, the signal amplitude drops below a preset threshold and continues for more than a set time, such as 0.2s. The control unit determines that the interval has been entered and triggers the acquisition and processing of passive vibration response signal. The duration of each acquisition window is fixed at a preset value Ta. This preset value Ta can be determined according to the frequency resolution requirements and can be between 2 and 10s.

[0075] 2b. Based on force and displacement responses, the current local dynamic stiffness value k at the contact point between each fine-tuning mechanism and the PHC pile is identified in real time. i Where i is the fine-tuning mechanism number, and based on the overall vibration modal response, the current bending and torsional modal parameters of the pile body are identified, generating the modal damping ratio index Z characterizing the uniformity of pile body constraint. m Specifically, the local dynamic stiffness value k i The identification can be performed using frequency domain analysis: the control unit performs fast Fourier transform on the acquired force response signal and displacement response signal respectively to obtain the force response spectrum F(ω) and displacement response spectrum X(ω), then calculates the frequency response function H(ω) = F(ω) / X(ω), and extracts the amplitude of the frequency response function H(ω) at the preset characteristic frequency ω0 as the local dynamic stiffness value k of the fine-tuning mechanism. i , i.e., k i =|F(ω0) / X(ω0)|, the characteristic frequency ω0 needs to be determined according to the type of pile driving equipment: for vibratory pile driving, the fundamental frequency of the vibrating equipment can be selected as the characteristic frequency, and the vibration frequency is generally between 20~40Hz. For hammer pile driving, the hammer excitation energy is distributed in a wider frequency band, and the characteristic frequency can be selected in the range of 10~100Hz. The modal damping ratio index Z m Z can be identified from the overall vibration modal response acquired by the accelerometer using the random subspace method or frequency domain decomposition method. mIt is a dimensionless value that reflects the uniformity of the overall constraint state of the pile body;

[0076] 2c. Calculate the average stiffness value k of all current local dynamic stiffness values. avg And determine each k i With k avg stiffness deviation Δk i And determine the modal damping ratio index Z. m The modal deviation ΔZ between the preset optimal damping ratio Z0 and the modal deviation ΔZ; specifically, the optimal damping ratio Z0 can be between 0.05 and 0.15.

[0077] 2d, when the maximum absolute deviation max(|Δk) i |)> the first preset threshold T1, or the modal deviation ΔZ is greater than the modal threshold T Z At that time, initiate the joint optimization and adjustment process:

[0078] Based on Δk of all fine-tuning mechanisms i ΔZ, through a pre-trained constraint optimization model, generates adjustment command vectors ΔP for all fine-tuning mechanisms, where ΔP = [ΔP1, ΔP2, ..., ΔP...]. n ] T Where n is the total number of fine-tuning mechanisms, T The matrix transpose symbol indicates that this array is a vertically arranged column vector. The adjustment command vector is used to simultaneously minimize the non-uniformity of stiffness distribution; specifically, the first preset threshold T1 can be taken between 0.5 and 2.0 kN / mm, and the modal threshold T... Z The value can be between 0.01 and 0.05. When either of the above two conditions is met, the control unit initiates a joint optimization adjustment process based on Δk of all fine-tuning mechanisms. i And ΔZ, through a pre-trained constraint optimization model or a pre-stored empirical control law, generate an adjustment command vector ΔP for all fine-tuning mechanisms, where ΔP=[ΔP1,ΔP2,...,ΔPn]. T n is the total number of fine-tuning mechanisms. T Using the matrix transpose notation, the adjustment command vector is used to simultaneously minimize the non-uniformity of stiffness distribution. The generation of adjustment commands balancing stiffness equalization and modal optimization can be performed as follows: First, for each fine-tuning mechanism, its adjustment amount ΔP... i Based on the stiffness deviation Δk at that point i ΔP is calculated using pre-stored linear or piecewise linear control laws. i =α×Δk iWhere α is a preset proportional coefficient, the value of α can be calibrated as follows: After the guide device is assembled, an offline calibration test is performed on each fine-tuning mechanism to measure the stiffness change of the fine-tuning mechanism under different hydraulic pressures. The proportional relationship between pressure change and stiffness change is determined by linear regression. α can be between 0.1 and 1.0 kN / (kN / mm). When using a piecewise linear control law, the stiffness deviation Δk can be... i Divide into multiple intervals, for example, when |Δk i When |Δk is less than 0.5 kN / mm, α takes the value of 0.3 kN / (kN / mm); when |Δk i When the modal deviation is greater than or equal to 0.5 kN / mm, α is set to 0.7 kN / (kN / mm); then, modal damping compensation logic is constructed: when the modal deviation ΔZ is greater than the modal threshold T Z At that time, a uniform additional adjustment ΔP is applied to all fine-tuning mechanisms. mode =β×ΔZ, where β is the preset modal compensation coefficient. The value of β can be determined as follows: By measuring the change in modal damping ratio of the pile body under different overall clamping force levels through offline tests, the proportional relationship between the increase in overall clamping force and the increase in modal damping ratio is determined. β can be between 1.0 and 10.0 kN. Finally, the stiffness equalization adjustment amount and the modal compensation adjustment amount are superimposed to obtain the final adjustment command ΔP for each fine-tuning mechanism. i =α×Δk i +β×ΔZ / n, where n is the total number of fine-tuning mechanisms, ensuring that modal compensation commands are evenly distributed to all fine-tuning mechanisms.

[0079] After executing the adjustment command, wait for the control unit's response cycle, and then passively acquire the vibration response signal again.

[0080] And update k synchronously i and Z m Repeat the process described in steps 2a to 2d, iterating until max(|Δk) is reached. i |) < the second preset threshold T2, and ΔZ < the modal convergence threshold T Zc Where T2 < T1, T Zc <T Z The global optimal joint equilibrium of the constraint state of the PHC pile within the guiding device is achieved. Specifically, the response period can be between 50 and 500 ms, and includes the hydraulic valve action time, hydraulic cylinder extension and retraction time, and the time for the sensor reading to stabilize again. After the waiting period, the vibration response signal is passively acquired again and k is updated synchronously. i and Z m Repeat the process from S2a to S2d, iterating until max(|Δk) is reached. i |) is less than the second preset threshold T2, and ΔZ is less than the modal convergence threshold TZc The setting of the first preset threshold T1 and the second preset threshold T2 is related to the structural parameters of the guiding device and the physical characteristics of the PHC pile. For example, for a PHC pile with a diameter of 800 mm and a wall thickness of 130 mm, the allowable local stress deviation corresponds to a stiffness deviation of approximately 0.5~1.5 kN / mm. Therefore, T1 can be set to 1.0 kN / mm and T2 can be set to 0.2 kN / mm. In actual construction, T1 and T2 can be corrected through on-site calibration tests. The modal convergence threshold T... Zc The value can be between 0.005 and 0.02;

[0081] S3. Maintain the state of the guide device after the constraint stiffness is balanced, and continue the driving operation of PHC piles. At this time, each fine adjustment mechanism maintains the current contact pressure unchanged, and the constraint stiffness of each contact point of the pile body is evenly distributed. In the subsequent pile driving process, if the constraint state deviates from the balance again due to changes in geological conditions or external loads, the closed-loop control system will restart the above adjustment process to achieve continuous adaptive constraint optimization.

[0082] The above method enables the real-time sensing of the constraint state changes at the contact points of each fine-tuning mechanism during the underwater pile driving process, based on the passive response signals generated by the pile driving hammer or vibration. It also allows for the automatic and rapid adjustment of the contact pressure of each fine-tuning mechanism, making the stiffness distribution of the entire constraint system more uniform. Simultaneously, it optimizes the overall modal damping characteristics of the pile body, effectively avoiding the risk of local stress concentration and pile cracking caused by uneven constraints in PHC piles. This reduces the verticality deviation of the pile body, improves pile driving accuracy and engineering quality, and reduces reliance on operator experience, thereby improving work efficiency and repeatability.

[0083] In another technical solution, the specific steps for generating the adjustment command vector ΔP in step S2d include:

[0084] For each fine-tuning mechanism, the adjustment amount ΔP i Based on the stiffness deviation Δk at that point i Calculate ΔP using a pre-stored linear or piecewise linear control law. i =α×Δk i , where α is a preset proportional coefficient, which is pre-calibrated based on the mechanical characteristics of the guide device and the response characteristics of the hydraulic system;

[0085] Construct modal damping compensation logic: When the modal deviation ΔZ is greater than the modal threshold TZ, apply a uniform additional adjustment ΔP to all fine-tuning mechanisms. mode =β×ΔZ, where β is a preset modal compensation coefficient used to adjust the overall constraint stiffness level to optimize modal damping characteristics;

[0086] The stiffness equalization adjustment and the modal compensation adjustment are superimposed to obtain the final adjustment command ΔP for each fine-tuning mechanism. i =α×Δk i +β×ΔZ / n, where n is the total number of fine-tuning mechanisms, ensuring that modal compensation commands are evenly distributed to all fine-tuning mechanisms;

[0087] Specifically, in the stiffness equalization adjustment stage, the control unit calls a pre-stored linear or piecewise linear control law to calculate the stiffness equalization adjustment amount for each fine-tuning mechanism. For the i-th fine-tuning mechanism, its stiffness deviation is Δk. i Then the stiffness balance adjustment amount ΔP i stiffness = α × Δk i The proportionality coefficient α can be determined through offline calibration tests, and for example, it can be taken between 0.1 and 1.0 kN / (kN / mm). When using a piecewise linear control law, the stiffness deviation Δk can be... i The system is divided into multiple intervals, each with a different α value, to balance adjustment speed and stability. In the modal damping compensation stage, when the modal deviation ΔZ is greater than the modal threshold T... Z At that time, the control unit applies a uniform additional adjustment amount ΔP to all fine-tuning mechanisms. mode =β×ΔZ, where the modal compensation coefficient β can be between 1.0 and 10.0 kN. Its calibration can be determined by measuring the change in modal damping ratio of the pile body under different overall clamping force levels. The control unit superimposes the stiffness equalization adjustment amount with the modal compensation adjustment amount to obtain the final adjustment command ΔP for each fine-tuning mechanism. i =α×Δk i The purpose of dividing the modal compensation amount by n by +β×ΔZ / n is to distribute the compensation evenly to all fine-tuning mechanisms and avoid local over-adjustment.

[0088] The above technical solution achieves stiffness balance adjustment through linear or piecewise linear control laws, with simple calculation methods and good real-time performance. By introducing modal damping compensation logic, the constraint state can be adjusted at the global level, compensating for the shortcomings of simple stiffness balance. The modal compensation is evenly distributed to all fine-tuning mechanisms, ensuring the smoothness and safety of the adjustment process. This solution takes into account both local stiffness balance and overall modal optimization, achieving coordinated operation of the two control objectives.

[0089] In another technical solution, the timing of passive vibration response signal acquisition is synchronously triggered based on the interval between pile driving hammering or vibration:

[0090] When a downtime of pile driving hammering or vibration equipment is detected, the control unit triggers the acquisition and processing of a passive vibration response signal.

[0091] The duration of each acquisition window is fixed at a preset value Ta to ensure that the length of the acquired signal is sufficient to meet the frequency resolution requirements for modal parameter identification.

[0092] Specifically, the control unit monitors the working status of the pile driving equipment through force sensors or vibration sensors. When pile driving hammering or vibration equipment shutdown is detected, the signal amplitude drops below a preset threshold and remains below it for more than a set time, such as 0.2 seconds. The control unit determines that an intermittent period has begun and triggers the acquisition and processing of a passive vibration response signal. The preset threshold can be set to 10%~20% of the amplitude under normal working conditions. For example, when the force signal amplitude under normal working conditions is about 10kN, the preset threshold can be set to 1~2kN. The duration of each acquisition window is fixed at a preset value Ta. The setting of the acquisition window duration Ta needs to meet the frequency resolution requirements of modal parameter recognition. According to the signal processing principle, the frequency resolution Δf=1 / Ta. In order to distinguish the first few bending modes and torsional modes of the pile body, the frequency resolution usually needs to reach 0.1~0.5Hz. Therefore, the acquisition window duration Ta can be between 2~10s. For example, when a frequency resolution of 0.2Hz is required... Ta can be set to 5 seconds. If the interval is shorter than Ta, the control unit can wait for the next interval to continue acquisition, or use multiple intervals spliced ​​together to obtain a sufficient signal length. During the acquisition process, the control unit simultaneously records the output signals of the force sensor, vibration sensor, and acceleration sensor, and stores the data in the buffer. After acquisition, the control unit immediately processes the data, including filtering, noise reduction, and modal parameter identification. To ensure data quality, the control unit can also perform signal level detection before acquisition to confirm that the sensors are working properly and the signal amplitude is within a reasonable range. If the acquired signal is abnormal, the control unit can abandon the acquisition data and wait for the next interval to reacquire it. By utilizing the natural interval of the pile driving equipment for signal acquisition, there is no need to interrupt the pile driving operation, which does not affect the construction efficiency. At the same time, the signal acquired during the interval is less affected by the vibration of the pile driving equipment and has a higher signal-to-noise ratio, which is beneficial to improving the accuracy of stiffness identification and modal parameter identification.

[0093] In another technical solution, the local dynamic stiffness value k is identified in real time in step 2b. i The method is as follows:

[0094] The collected force and displacement responses are subjected to fast Fourier transform to obtain the frequency response function H(ω);

[0095] The amplitude of the frequency response function H(ω) at the preset characteristic frequency ω0 is extracted and used as the local dynamic stiffness value k of the fine-tuning mechanism. i , where k i=|F(ω0) / X(ω0)|, where F(ω0) is the amplitude of the force response spectrum at ω0, and X(ω0) is the amplitude of the displacement response spectrum at ω0;

[0096] Specifically, the control unit first preprocesses the acquired force response and displacement response signals. The preprocessing steps include removing the DC component from the signals to eliminate the influence of sensor zero-point drift, performing low-pass filtering to filter out high-frequency noise above the upper limit of the analysis frequency, noise filtering, and windowing to reduce spectral leakage. The cutoff frequency of the low-pass filter can be set to 200-500Hz, and the windowing can use a Hanning window or a Blackman window. After preprocessing, the control unit performs a Fast Fourier Transform (FFT) on the force response and displacement response signals respectively. The number of FFT points can be determined based on the acquisition window duration T. The sampling frequency and 'a' are determined. For example, when Ta = 5s and the sampling frequency is 1000Hz, the number of sampling points is 5000. The number of FFT points can be 8192. Through FFT transformation, the spectrum of the force response signal F(ω) and the spectrum of the displacement response signal X(ω) are obtained, where ω is the angular frequency. The control unit calculates the frequency response function H(ω) = F(ω) / X(ω). The frequency response function reflects the force output characteristics of the system under unit displacement input, and its amplitude is directly related to the stiffness of the system. The control unit extracts the amplitude of the frequency response function H(ω) at the preset characteristic frequency ω0 as the local dynamic stiffness value k of the fine-tuning mechanism. i , i.e., k i =|F(ω0) / X(ω0)|, the characteristic frequency ω0 needs to be consistent with the main frequency of pile driving. For hammer driving, the main frequency of hammer driving is generally between 10~50Hz, and the characteristic frequency ω0 can be selected in the range of 10~100Hz. For vibratory pile driving, the vibration frequency is generally between 20~40Hz, and the characteristic frequency ω0 can be selected as the fundamental frequency of the vibrating equipment. The local dynamic stiffness value is identified by frequency domain analysis method, which has clear physical meaning, high calculation efficiency, can effectively separate different frequency components, and reduce the impact of noise interference on the identification results.

[0097] In another technical solution, during the closed-loop control process, the control unit also monitors the rate of change dP / dt of the contact pressure of each fine-tuning mechanism. If the rate of change dP / dt of any fine-tuning mechanism exceeds the preset abrupt change threshold R... max If the current differential adjustment is not triggered, the control unit will immediately pause the current adjustment and trigger the emergency buffer mode, controlling all fine-tuning mechanisms to synchronously reduce the contact pressure to a safe level. After the rate of change dP / dt returns to the normal range, the closed-loop control process will resume.

[0098] Specifically, the control unit collects the contact pressure data of each fine-tuning mechanism in real time through force sensors, and calculates the rate of change using the central difference method, with the formula being dP / dt(t)=(P -P / (2×Δt), where Δt is the sampling period, which can be from 0.01s to 0.1s. If the rate of change dP / dt of any fine-tuning mechanism exceeds the preset mutation threshold R max If the current differential adjustment is not triggered, the control unit will immediately suspend the current adjustment and trigger the emergency buffer mode, controlling all fine-tuning mechanisms to synchronously reduce the contact pressure to a safe level. Once the rate of change dP / dt returns to the normal range, the closed-loop control process will resume, with the sudden change threshold R... max The value of R can be determined based on the maximum response rate of the hydraulic system and the stress characteristics of the PHC pile. max The value can be between 1.0 and 10.0 kN / s. When the rate of change dP / dt of a certain fine-tuning mechanism exceeds R... max If this occurs, it indicates a possible abnormal situation at that point, such as sudden displacement of the PHC pile, a sudden change in soil quality leading to a drastic change in resistance, or a malfunction in the fine-tuning mechanism itself. The control unit immediately suspends the current differentiated adjustment process, that is, it stops generating and executing adjustment commands and triggers an emergency buffer mode. In emergency buffer mode, the control unit simultaneously issues commands to all fine-tuning mechanisms to synchronously reduce their contact pressure to a preset safety level. The safety level can be set to 30%~50% of the initial contact pressure, and the rate of reduction can be controlled between 2.0~5.0 kN / s to ensure a smooth and controllable process. After the emergency buffer mode is triggered, the control unit continuously monitors the rate of change dP / dt of each fine-tuning mechanism. When the rate of change dP / dt of all fine-tuning mechanisms returns to the normal range, the control unit determines that the abnormal state has been eliminated. The normal range can be set to dP / dt less than 0.5 times R. max For example, when R max When the value is 3.0 kN / s, the normal range can be set to dP / dt less than 1.5 kN / s. The judgment condition for restoring normality needs to be stable for at least 1 to 3 seconds to avoid misjudgment caused by instantaneous fluctuations. After the state is confirmed to be stable, the control unit resumes the closed-loop control process and restarts the execution of each step. Through this safety protection mechanism, damage to PHC piles caused by abnormal changes in the constraint system can be effectively prevented, thus improving the safety of pile driving operations.

[0099] In another technical solution, during the closed-loop control process, the control unit also performs a sensor self-test step:

[0100] When an abnormality is detected in the force sensor or displacement sensor signal on a fine-tuning mechanism, the control unit marks that fine-tuning mechanism as a failed unit and determines the failure based on the local dynamic stiffness value k of the fine-tuning mechanisms adjacent to that failed unit. i And estimate the replacement stiffness value K to replace the k of the failed element. iParticipating in equilibrium evaluation and differentiated adjustment; specifically, sensor self-testing can be performed by monitoring whether the output signal remains within a preset reasonable range, whether the signal remains unchanged for a long time, and calculating the signal-to-noise ratio. The reasonable output range of the force sensor can be set to 0~20kN, and the reasonable output range of the vibration sensor can be set to 0~5mm. When an abnormal sensor signal is detected on a certain fine-tuning mechanism, the control unit immediately marks the fine-tuning mechanism as a failed unit, and its data is no longer directly used for subsequent calculations. The control unit selects the failed unit as the center in the guide frame. Using one or two normally functioning fine-tuning mechanisms on each of the left and right sides as references, the replacement stiffness value K is estimated. The replacement stiffness value K can be calculated using the arithmetic mean method or the weighted average method. For example, if two normally functioning fine-tuning mechanisms are selected on each of the left and right sides of the failed unit, and their local dynamic stiffness values ​​are k1, k2, k3, and k4 respectively, then the replacement stiffness value K = (k1 + k2 + k3 + k4) / 4. The control unit assigns the replacement stiffness value K to the failed unit to participate in subsequent equilibrium evaluation and differential adjustment, and continues to use it in subsequent iterations until the sensor signal returns to normal or manual intervention is required.

[0101] The above technical solution improves the reliability and robustness of the system in harsh construction environments by introducing sensor self-testing and fault tolerance mechanisms in the control process. When an individual sensor fails, the system can automatically identify the fault and use data from adjacent sensors to replace it, ensuring that the closed-loop control process will not be interrupted due to the failure of an individual sensor, which helps to reduce downtime and improve the continuity of pile driving operations.

[0102] In another technical solution, the alternative stiffness value K is estimated through the following steps:

[0103] Centered on the fine-tuning mechanism marked as a failed unit, determine M normally functioning fine-tuning mechanisms on the left and right sides of its circumference, where M is a preset positive integer, forming a local interpolation region composed of 2M reference fine-tuning mechanisms.

[0104] Obtain the current stable local dynamic stiffness value k of each reference fine-tuning mechanism from the local interpolation region. j and the central angle θ between it and the failed element. j Where j is the reference fine-tuning mechanism number, j=1,2,...,2M;

[0105] If there exists any circle whose central angle θ j For a reference fine-tuning mechanism with a value of zero, the substitute stiffness value K will be directly assigned as the local dynamic stiffness value k of that reference fine-tuning mechanism. j Otherwise, according to Calculate, where w j =1 / θ j ;

[0106] The alternative stiffness value K is assigned to the failed element as its local dynamic stiffness value k. j And keep the marked state of the failed unit, and continue to use the alternative stiffness value in subsequent iterations until the sensor signal returns to normal or manual intervention is required;

[0107] Specifically, in each iteration, the control unit monitors whether the output signals of each sensor remain within a preset reasonable range. The reasonable output range for force sensors can be set to 0~20kN, and for vibration sensors, it can be set to 0~5mm. When a sensor output signal exceeds the reasonable range, remains unchanged for a long time (e.g., more than 5 seconds without change), or the signal-to-noise ratio is lower than a preset threshold (e.g., the signal amplitude is less than twice the noise amplitude), the control unit determines that the sensor signal is abnormal. In addition, the control unit can also perform periodic self-checks on the sensors, sending test commands to the sensors and reading their responses to determine whether the sensors are working properly. When an abnormality is detected in the force sensor or vibration sensor signal on a fine-tuning mechanism, the control unit immediately marks the fine-tuning mechanism as a failed unit. After being marked as a failed unit, the data of that fine-tuning mechanism is no longer directly used for subsequent calculations. The control unit uses the local dynamic stiffness value k of the fine-tuning mechanism adjacent to the failed unit as the basis for its calculations. i An alternative stiffness value K is estimated to replace the k of the failed element. i In the equilibrium assessment and differential adjustment, taking the fine-tuning mechanism marked as a failure unit as the center, determine the M normally functioning fine-tuning mechanisms adjacent to it on both the left and right sides in the circumferential direction. M is a preset positive integer, for example, it can be 2, forming a local interpolation region composed of 2M reference fine-tuning mechanisms. From the local interpolation region, obtain the current stable local dynamic stiffness value k of each reference fine-tuning mechanism. j and the central angle θ between it and the failed element. j Where j is the reference fine-tuning mechanism number, j=1,2,...,2M. The central angle between adjacent fine-tuning mechanisms can be calculated from the circumferential position of the fine-tuning mechanism. For example, when the number of fine-tuning mechanisms is 8, the central angle between adjacent fine-tuning mechanisms is 360°÷8=45°. If there exists any one of these mechanisms with a central angle θ... j For a reference fine-tuning mechanism with a value of zero, the substitute stiffness value K will be directly assigned as the local dynamic stiffness value k of that reference fine-tuning mechanism. j Otherwise, the alternative stiffness value K is calculated using the weighted average formula, where the weighting coefficient w j =1 / θ j The replacement stiffness value K is assigned to the failed element as its local dynamic stiffness value k. i, and maintain the marked state of the failed unit, continuously use the alternative stiffness value in subsequent iterations until the sensor signal returns to normal or manual intervention is performed. By introducing the sensor self-check and fault tolerance mechanism in the control process, the reliability and robustness of the system in harsh construction environments are improved.

[0108] In another technical solution, during the iteration process of step S2d, the control unit further executes the following iterative stability control steps:

[0109] Calculate the command deviation vector δP(t)=ΔP(t)-ΔP(t-1) between the adjustment command vector ΔP(t) of the current iteration step and the adjustment command vector ΔP(t-1) of the previous iteration step;

[0110] Calculate the infinity norm ||δP(t)||∞ of the command deviation vector δP(t), and compare it with the preset oscillation detection threshold Tosc:

[0111] When ||δP(t)||∞≥Tosc, it is determined that the current iteration process has an oscillation trend;

[0112] When ||δP(t)||∞<Tosc, it is determined that the current iteration process is stably convergent;

[0113] When it is determined that there is an oscillation trend, the control unit triggers an iterative damping mechanism:

[0114] Apply a damping factor γ to the adjustment command vector ΔP(t) generated in the current iteration step to obtain a corrected adjustment command vector ΔP'(t): ΔP'(t)=ΔP(t-1)+γ×δP(t), where γ is a fixed base damping coefficient with a value of 0.5;

[0115] Use the corrected adjustment command vector ΔP'(t) to replace ΔP(t) to perform joint optimization adjustment, and continue subsequent iterations until the convergence condition is satisfied;

[0116] Specifically, after each iteration is completed, the control unit calculates the deviation vector δP(t)=ΔP(t)−ΔP(t-1) between the adjustment command vector ΔP(t) generated in the current iteration step and the adjustment command vector ΔP(t-1) of the previous iteration step, then calculates the infinity norm ||δP(t)||∞ of the deviation vector δP(t), and the infinity norm is defined as the maximum value of the absolute values of all elements in the vector, that is, ||δP(t)||∞=max(|δP1(t)|,|δP2(t)|,...,|δP n(t)|), the infinity norm reflects the maximum variation amplitude of the adjustment amount of all fine-tuning mechanisms between two consecutive iterations. The infinity norm is compared with the preset oscillation detection threshold Tosc, and the value range of the oscillation detection threshold Tosc can be determined according to the maximum allowable single-step adjustment amount of the fine-tuning mechanism, for example, it can be set between 0.5 and 2.0kN;

[0117] When ||δP(t)||∞≥Tosc, it indicates that the adjustment amount of a certain fine-tuning mechanism has changed greatly between two consecutive iterations, which may cause divergent oscillation, so it is determined that there is an oscillation trend in the current iteration process;

[0118] When ||δP(t)||∞<Tosc, it is determined that the current iteration process is stably convergent. When it is determined that there is an oscillation trend, the control unit triggers the iteration damping mechanism, and applies a damping factor γ to the adjustment command vector ΔP(t) generated in the current iteration step to obtain the corrected adjustment command vector ΔP'(t): ΔP'(t)=ΔP(t-1)+γ×δP(t), where γ is a fixed basic damping coefficient with a value of 0.5. The meaning of the correction formula is to compress the adjustment amount of the current iteration step to 50% of the original adjustment amount, so as to reduce the adjustment amplitude and suppress divergent oscillation;

[0119] The control unit uses the corrected adjustment command vector ΔP'(t) to replace the original ΔP(t) to perform joint optimization adjustment, and continues subsequent iterations until the convergence condition is satisfied;

[0120] By introducing the oscillation detection and damping mechanism, the present invention can effectively suppress the divergent oscillation of the adjustment amount caused by improper control parameters or external disturbances, ensure that the iteration process can converge even if the initial parameter setting is not ideal, and improve the robustness and reliability of the system.

[0121] As Figures 1-2 shown, a combined guiding and positioning device for underwater pile driving of PHC piles of a high-pile wharf is provided, and a combined guiding and positioning construction method for underwater pile driving of PHC piles of a high-pile wharf is adopted. The device includes:

[0122] The guide frame 1 is formed by connecting at least two semi-annular frame units 11 in an openable and closable manner via hinges 12 and locking mechanisms. Specifically, the guide frame 1, as the load-bearing structure of the entire device, can be made of high-strength structural steel, such as Q345B steel, and the semi-annular frame units 11 are formed by welding or casting. The cross-section of each semi-annular frame unit 11 can be rectangular or I-shaped to provide sufficient bending and torsional strength. The inner diameter of the semi-annular frame unit 11 can be determined according to the maximum diameter of the PHC pile 7 to be guided. For example, it can be manufactured with an inner diameter of 1.2m to accommodate PHC piles 7 with diameters of 0.8~1.0m. At the joint of the two semi-annular frame units 11... A hinge 12 is provided on one side and a locking mechanism is provided on the other side. The hinge 12 can be a pin hinge, so that the two semi-circular frame units 11 can be opened and closed like a door. The locking mechanism can be a combination of locking bolts and locking nuts. When the two semi-circular frame units 11 are closed, the two are firmly fixed together by tightening the locking bolts and locking nuts. This split-type openable structure makes it easy to install and remove the guide device from the side of the PHC pile 7 without having to insert it from the top of the pile. It is particularly suitable for water construction scenarios. Multiple lifting lugs 13 can be provided on the outer side of the guide frame 1 for connecting with the hook of the lifting equipment to facilitate the overall hoisting and positioning.

[0123] Multiple mounting seats 2 are evenly spaced along the inner circumferential surface of the guide frame 1. Each mounting seat 2 is provided with an adjustment elongated hole 21 extending radially along the guide frame 1. Specifically, the mounting seats 2 can be made of thick steel plate and welded to the inner circumferential surface of the guide frame 1. The number of mounting bases 2 can be determined according to the number of fine-tuning mechanisms 3. For example, it can be set to 8, with one set every 45° along the circumference of the guide frame 1. Each mounting base 2 has an elongated hole. The length of the elongated hole extends radially along the guide frame 1, that is, it points to the center of the guide frame 1. The length of the elongated hole can be between 50 and 150 mm, for example, it can be 100 mm. The width of the elongated hole matches the diameter of the bolt used to fix the fine-tuning mechanism 3. For example, an M20 bolt corresponds to a 22 mm wide hole. Through the adjustment elongated hole 21, when the fixing bolt is loosened, the radial position of the fine-tuning mechanism 3 can be adjusted, thereby changing the initial distance between the fine-tuning mechanism 3 and the outer wall of the PHC pile 7 to accommodate PHC piles 7 of different diameters or flexible pads 34 of different thicknesses. After adjusting to the predetermined position, tightening the bolt will securely lock the fine-tuning mechanism 3 onto the mounting base 2. This adjustable design is consistent with the idea of ​​adjusting the position by sliding and locking in the adjustable bracket.

[0124] Multiple fine-tuning mechanisms 3, each fine-tuning mechanism 3 including:

[0125] The hydraulic cylinder 31 has its cylinder body fixed to the mounting base 2, and its piston rod 32 extends radially toward the PHC pile 7. Specifically, the hydraulic cylinder 31 can be a single-acting spring return cylinder or a double-acting cylinder, with a cylinder diameter of 40~80mm, a stroke of 50~200mm, and a rated working pressure of 16~25MPa. The cylinder body of the hydraulic cylinder 31 is fixed to the mounting base 2 by bolts, and its piston rod 32 extends radially toward the PHC pile 7. Each fine-tuning mechanism 3 is equipped with an independent hydraulic control valve group 51. The hydraulic control valve group 51 can be a proportional servo valve or a high-speed switching valve. The response time of the proportional servo valve can be less than 10ms, and the hysteresis is less than 1%, which can achieve precise control of the pressure and flow of the hydraulic cylinder 31. The working frequency of the high-speed switching valve can be no less than 50Hz, which can achieve rapid on / off control. The hydraulic pipeline of the hydraulic cylinder 31 can be connected to the hydraulic station through a high-pressure hose.

[0126] The swing contact head 33 is connected to the end of the piston rod 32 via a ball joint. Specifically, a connector is welded or threaded to the top of the piston rod 32 of the hydraulic cylinder 31. The connector has a ball head. The swing contact head 33 is a steel pad with a ball socket fixed at the center of its lower surface. The ball head is fitted into the ball socket to form a ball joint connection. This ball joint connection allows the swing contact head 33 to swing freely in multiple directions relative to the piston rod 32. The swing angle can reach ±15°. When the swing contact head 33 contacts the outer wall of the PHC pile 7, the ball joint can adaptively adjust the angle of the contact head so that its upper surface is tightly fitted with the cylindrical surface of the PHC pile 7.

[0127] The flexible pad 34 is fixed to the surface of the oscillating contact head 33 that contacts the PHC pile 7. Specifically, the flexible pad 34 can be a vulcanized rubber block with a thickness between 10 and 30 mm and a hardness between Shore A50 and A80. The rubber block can be firmly bonded to the upper surface of the oscillating contact head 33 with a high-strength epoxy resin adhesive, or it can be mechanically fixed with countersunk bolts to ensure that it will not fall off during long-term use. The function of the flexible pad 34 is to provide elastic buffer between the fine-tuning mechanism 3 and the PHC pile 7, reduce stress concentration caused by rigid contact, and increase the coefficient of friction to prevent the PHC pile 7 from sliding in the guide device.

[0128] Multiple integrated sensor components 4, each sensor component 4 including:

[0129] Force sensor 41 is located on the piston rod 32 of hydraulic cylinder 31 or at the connection between the swing contact head 33 and piston rod 32. Specifically, force sensor 41 can be installed on the piston rod 32 of hydraulic cylinder 31 or at the connection between the swing contact head 33 and piston rod 32 to collect the contact pressure applied by fine adjustment mechanism 3 to PHC pile 7 in real time. Force sensor 41 can be a resistance strain gauge pressure sensor 41, and its range can be selected between 0kN and 50kN.

[0130] At least one acceleration sensor 43 is mounted on the guide frame 1 or the PHC pile 7 to collect the overall vibration modal response of the PHC pile 7;

[0131] Vibration sensor 42 is located between the cylinder body and piston rod 32 of hydraulic cylinder 31 or on mounting base 2. Specifically, vibration sensor 42 can be installed between the cylinder body and piston rod 32 of hydraulic cylinder 31 or on mounting base 2 to collect the displacement response of fine adjustment mechanism 3 caused by the hammering or vibration of PHC pile 7 in real time. Its range can be selected between 0 and 10 mm, and its frequency response range can be 0 to 500 Hz.

[0132] At least one acceleration sensor 43 is mounted on the guide frame 1 or the PHC pile 7; specifically, the acceleration sensor 43 can be a piezoelectric acceleration sensor 43, the range of which can be selected between 0 and 50g, and the sensitivity is not less than 100 mV / g.

[0133] All of the above sensors can output signals in the form of a current output of 4~20mA or a voltage output of 0~10V to facilitate connection with the control unit 5. The sensor signals are transmitted to the control unit 5 through shielded cables to reduce the influence of electromagnetic interference.

[0134] The control unit 5 is electrically connected to the force sensor 41, vibration sensor 42, acceleration sensor 43, and the hydraulic control valve group 51 of the fine-tuning mechanism 3. The hydraulic control valve group 51 of the fine-tuning mechanism 3 is a proportional servo valve or a high-speed switching valve. Specifically, the control unit 5 can be a programmable logic controller or an industrial control computer with a central processing unit (CPU) processing power of at least 1 GHz and memory of at least 512 MB. The control unit 5 acquires analog signals from the sensors through an analog input module and controls the hydraulic control valve group 51 through a digital output module or an analog output module. The control unit 5 contains a signal acquisition module, a data processing module, and a control command output module. The block is used to receive and process the signals output by the force sensor 41, vibration sensor 42 and acceleration sensor 43, and to perform bandpass filtering on the signals to filter out noise components that are unrelated to the pile driving hammer frequency. The data processing module is used to perform local dynamic stiffness value identification, modal damping ratio index calculation, stiffness deviation and modal deviation determination, and generate adjustment command vector based on pre-stored empirical control law. The control command output module is used to convert the generated adjustment command vector into an electrical control signal for the hydraulic control valve group 51 to control the contact pressure adjustment of each servo hydraulic fine-tuning mechanism 3. The control unit 5 can be installed in a waterproof control box and set above the guide frame 1 or in a safe area on the shore.

[0135] In the above technical solution, the guiding device achieves rapid installation and disassembly in aquatic environments through a split-type guiding frame 1, improving construction efficiency; the adjustable mounting base 2 can adapt to PHC piles 7 of different diameters, improving the device's versatility; the ball-joint connected swing contact head 33 and flexible pad 34 achieve adaptive fit with the outer wall of the PHC pile 7, reducing local stress concentration and protecting the pile's quality; the integrated force sensor 41, vibration sensor 42, and acceleration sensor 43 achieve comprehensive perception of the constraint state; and the closed-loop control of the control unit 5 can adjust the contact pressure of each fine-tuning mechanism 3 in real time, making the stiffness distribution of the constraint system more uniform and optimizing the overall modal damping characteristics of the pile. The entire guiding device, as a whole tooling, provides reliable, adjustable, and adaptive contact capability hardware support for intelligent guiding and positioning construction methods. After assembly and pre-adjustment on land, it is hoisted to the water operation position by lifting equipment.

[0136] Another technical solution also includes:

[0137] Multiple positioning guide pulley groups 6 are evenly distributed circumferentially along the guide frame 1. Each positioning guide pulley group 6 includes at least two guide wheels 61 arranged vertically. The wheel surfaces of the guide wheels 61 roll in contact with the outer wall of the PHC pile 7. Specifically, the number of positioning guide pulley groups 6 can be the same as or different from the number of fine-tuning mechanisms 3. For example, four, six, or eight groups can be set. Each group of positioning guide pulley groups 6 includes at least two guide wheels 61 arranged vertically. For example, two, three, or four guide wheels 61 can be set in each group. The guide wheels 61 are equidistantly arranged vertically, with a spacing between 200 and 500 mm. The multiple guide wheels 61 arranged vertically can simultaneously contact different height positions of the PHC pile 7, providing a more stable guiding effect. The guide wheels 61 can be made of steel or engineering plastics, and their wheel surfaces can be provided with an elastic coating layer, such as a rubber coating layer or a polyurethane coating layer, to enhance... To increase the friction coefficient and reduce damage to the surface of the PHC pile 7, the diameter of the guide wheel 61 can be between 80 and 200 mm. The guide wheel 61 is installed on a fixed bracket via bearings. The fixed bracket is welded or bolted to the corresponding position of the guide frame 1. The rolling axis of the guide wheel 61 is perpendicular to the radial direction of the guide frame 1, ensuring that the guide wheel 61 can roll freely along the length of the PHC pile 7. During the sinking of the PHC pile 7, the guide wheel 61 maintains rolling contact with the outer wall of the PHC pile 7, providing vertical guidance and reducing frictional resistance. Multiple guide wheels 61 are evenly distributed circumferentially, which can restrict the horizontal displacement of the PHC pile 7 from multiple directions, ensuring the verticality of the pile body. The positioning guide pulley group 6 provides auxiliary guidance for the PHC pile 7, reducing the frictional resistance between the pile body and the guide device, which helps to improve the pile sinking efficiency. The rolling contact method avoids damage to the surface of the PHC pile 7 by sliding friction, protecting the quality of the pile body.

[0138] The wireless communication module 52, located within the control unit 5, is used to upload real-time data collected by the control unit 5 to the shore-based monitoring center and to receive remote control commands issued by the shore-based monitoring center. Specifically, the wireless communication module 52 can be a 4G module, a 5G module, or a WiFi module, with a data upload rate of no less than 1Mbps. The control unit 5 uploads the collected real-time data to the shore-based monitoring center through the wireless communication module 52. The real-time data may include the contact pressure of each fine-tuning mechanism 3, local dynamic stiffness value, modal damping ratio index, pile driving depth, pile verticality deviation, etc. The shore-based monitoring center is located in a control room or mobile command vehicle on shore, displaying real-time data and storing historical data through a computer terminal. The downlink remote control commands from the shore-based monitoring center may include adjusting control parameters, switching control modes, and emergency stop commands. The antenna of the wireless communication module 52 can be installed on the top of the guide frame 1 or on the housing of the control unit 5 to obtain a good communication signal. The wireless communication module 52 enables remote data transmission and remote control, allowing construction management personnel to monitor the pile driving status in real time and intervene remotely when necessary, improving the safety and flexibility of construction.

[0139] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A combined guided positioning construction method for PHC piles driven underwater at high-pile wharves, characterized in that: comprising the following steps: S1. A guiding device comprising a plurality of independent fine adjustment mechanisms is installed on the periphery of a PHC pile to be sunk, and each fine adjustment mechanism is brought into contact with the outer wall of the PHC pile to form multi-point flexible constraints; S2. During the pile sinking process, the following automatic constraint adjustment process is continuously executed through a closed-loop control system: S2a. Vibration sensors and force sensors installed on each fine adjustment mechanism passively collect passive vibration response signals of the PHC pile generated under the hammering or vibration action of pile sinking, wherein the passive vibration response signals include force responses and displacement responses at the contact points of the respective fine adjustment mechanisms; at the same time, an acceleration sensor is installed on the pile body of the PHC pile to collect the passive overall vibration modal response of the pile body; 2b. Based on force and displacement responses, the current local dynamic stiffness value k at the contact point between each fine-tuning mechanism and the PHC pile is identified in real time. i Where i is the fine-tuning mechanism number, and based on the overall vibration modal response, the current bending and torsional modal parameters of the pile body are identified, generating the modal damping ratio index Z characterizing the uniformity of pile body constraint. m ; 2c. Calculate the average stiffness value k of all current local dynamic stiffness values. avg And determine each k i With k avg stiffness deviation Δk i And determine the modal damping ratio index Z. m The modal deviation ΔZ between the preset optimal damping ratio Z0 and the actual damping ratio Z0; 2d, when the maximum absolute deviation max(|Δk) i |)> the first preset threshold T1, or the modal deviation ΔZ is greater than the modal threshold T Z At that time, initiate the joint optimization and adjustment process: Based on Δk of all fine-tuning mechanisms i ΔZ, through a pre-trained constraint optimization model, generates adjustment command vectors ΔP for all fine-tuning mechanisms, where ΔP = [ΔP1, ΔP2, ..., ΔP...]. n ] T Where n is the total number of fine-tuning mechanisms, T The matrix transpose symbol indicates that this array is a vertically arranged column vector. The adjustment command vector is used to simultaneously minimize the non-uniformity of stiffness distribution. After executing the adjustment instruction, wait for the response period of the control unit, and passively collect the vibration response signals again And update k synchronously i and Z m Repeat the process described in steps 2a to 2d, iterating until max(|Δk) is reached. i |) < the second preset threshold T2, and ΔZ < the modal convergence threshold T Zc Where T2 < T1, T Zc <T Z Complete the global optimal joint equilibrium of the constraint state of PHC piles within the guiding device; S3. Maintain the state of the guiding device with equalized constraint stiffness, and continue the pile sinking operation of the PHC pile.

2. The combined guiding and positioning construction method for PHC pile driving in water at high-pile wharves as described in claim 1, characterized in that, The specific steps of generating the adjustment instruction vector ΔP in step S2d include: For each fine-tuning mechanism, the adjustment amount ΔP i Based on the stiffness deviation Δk at that point i Calculate ΔP using a pre-stored linear or piecewise linear control law. i =α×Δk i , where α is a preset proportional coefficient, which is pre-calibrated based on the mechanical characteristics of the guide device and the response characteristics of the hydraulic system; Construct modal damping compensation logic: When the modal deviation ΔZ is greater than the modal threshold TZ, apply a uniform additional adjustment ΔP to all fine-tuning mechanisms. mode =β×ΔZ, where β is a preset modal compensation coefficient used to adjust the overall constraint stiffness level to optimize modal damping characteristics; The stiffness equalization adjustment and the modal compensation adjustment are superimposed to obtain the final adjustment command ΔP for each fine-tuning mechanism. i =α×Δk i +β×ΔZ / n, where n is the total number of fine-tuning mechanisms, ensuring that modal compensation commands are evenly distributed to all fine-tuning mechanisms.

3. The combined guiding and positioning construction method for PHC piles in water-based pile driving at high-pile wharves as described in claim 1, characterized in that, The collection timing of the passive vibration response signals is synchronously triggered according to the intermittent period of pile sinking hammering or vibration: When the shutdown intermittent period of the pile sinking hammering or vibration equipment is detected, the control unit triggers one collection and processing of the passive vibration response signals; The duration of each collection window is fixed to a preset value Ta, ensuring that the length of the collected signal is sufficient to meet the frequency resolution requirement of modal parameter identification.

4. The combined guiding and positioning construction method for PHC pile driving in water at high-pile wharves as described in claim 1, characterized in that, In step 2b, the local dynamic stiffness value k is identified in real time. i The method is as follows: Fast Fourier transform is performed on the collected force responses and displacement responses to obtain the frequency response function H(ω); The amplitude of the frequency response function H(ω) at the preset characteristic frequency ω0 is extracted and used as the local dynamic stiffness value k of the fine-tuning mechanism. i , where k i =|F(ω0) / X(ω0)|, where F(ω0) is the amplitude of the force response spectrum at ω0, and X(ω0) is the amplitude of the displacement response spectrum at ω0.

5. The combined guiding and positioning construction method for PHC piles in water-based pile driving at high-pile wharves as described in claim 1, characterized in that, During the closed-loop control process, the control unit also monitors the rate of change of contact pressure dP / dt of each fine-tuning mechanism. If the rate of change dP / dt of any fine-tuning mechanism exceeds the preset abrupt change threshold R... max If the current differential adjustment is not triggered, the control unit will immediately pause the current adjustment and trigger the emergency buffer mode, controlling all fine-tuning mechanisms to synchronously reduce the contact pressure to a safe level. After the rate of change dP / dt returns to the normal range, the closed-loop control process will resume.

6. The combined guiding and positioning construction method for PHC piles in water-based pile driving at high-pile wharves as described in claim 1, characterized in that, During the closed-loop control process, the control unit further executes a sensor self-check step: When an abnormality is detected in the force sensor or displacement sensor signal on a fine-tuning mechanism, the control unit marks that fine-tuning mechanism as a failed unit and determines the failure based on the local dynamic stiffness value k of the fine-tuning mechanisms adjacent to that failed unit. i And estimate the replacement stiffness value K to replace the k of the failed element. i Participate in balanced assessment and differentiated adjustment.

7. The combined guiding and positioning construction method for PHC piles in water-based pile driving at high-pile wharves as described in claim 6, characterized in that, The alternative stiffness value K is estimated through the following steps: Taking the fine adjustment mechanism marked as a failed unit as the center, M normally operating fine adjustment mechanisms adjacent to each other on the left and right in the circumferential direction are determined, where M is a preset positive integer, so as to form a local interpolation area composed of 2M reference fine adjustment mechanisms; Obtain the current stable local dynamic stiffness value k of each reference fine-tuning mechanism from the local interpolation region. j and the central angle θ between it and the failed element. j Where j is the reference fine-tuning mechanism number, j=1,2,...,2M; If there exists any circle whose central angle θ j For a reference fine-tuning mechanism with a value of zero, the substitute stiffness value K will be directly assigned as the local dynamic stiffness value k of that reference fine-tuning mechanism. j Otherwise, according to Calculate, where w j =1 / θ j ; The alternative stiffness value K is assigned to the failed element as its local dynamic stiffness value k. j The failed unit is marked and the alternative stiffness value is used in subsequent iterations until the sensor signal returns to normal or manual intervention is required.

8. The combined guiding and positioning construction method for PHC piles in water-based pile driving at high-pile wharves as described in claim 1, characterized in that, During the iteration process of step S2d, the control unit further executes the following iteration stability control steps: Calculate the instruction deviation vector δP(t)=ΔP(t)-ΔP(t-1) between the adjustment instruction vector ΔP(t) of the current iteration step and the adjustment instruction vector ΔP(t-1) of the previous iteration step; Calculate the infinity norm ||δP(t)||∞ of the instruction deviation vector δP(t), and compare it with a preset oscillation detection threshold Tosc: When ||δP(t)||∞≥Tosc, it is determined that the current iteration process has an oscillation trend; When ||δP(t)||∞<Tosc, it is determined that the current iteration process is stably convergent; When it is determined that there is an oscillation trend, the control unit triggers an iteration damping mechanism: A damping factor γ is applied to the adjustment instruction vector ΔP(t) generated in the current iteration step to obtain a corrected adjustment instruction vector ΔP'(t): ΔP'(t)=ΔP(t-1)+γ×δP(t), where γ is a fixed basic damping coefficient with a value of 0.5; The corrected adjustment instruction vector ΔP'(t) is used to replace ΔP(t) to perform joint optimization adjustment, and subsequent iterations are continued until the convergence condition is satisfied.

9. A combined guiding and positioning device for PHC piles used in water-based driving of high-pile wharves, characterized in that, The combined guiding and positioning construction method for underwater driving of PHC piles for high-pile wharves, as described in any one of claims 1 to 8, comprises: The guide frame is composed of at least two semi-circular frame units that are detachably connected by hinges and locking mechanisms; Multiple mounting seats are evenly spaced along the inner circumferential surface of the guide frame, and each mounting seat is provided with an adjustment elongated hole extending radially along the guide frame. Multiple fine-tuning mechanisms, each including: A hydraulic cylinder, the cylinder body of which is fixed to the mounting base, and the piston rod of which extends radially toward the PHC pile; A swing contact head is connected to the end of the piston rod via a ball joint; A flexible gasket is fixed to the surface of the oscillating contact head that contacts the PHC pile; Multiple integrated sensor assemblies, each sensor assembly including: Force sensor, which is located on the piston rod of the hydraulic cylinder or at the connection between the swing contact head and the piston rod; Vibration sensor, which is installed between the cylinder body and piston rod of the hydraulic cylinder or on the mounting base; At least one acceleration sensor is mounted on the guide frame or the PHC pile. The control unit is electrically connected to the force sensor, vibration sensor, acceleration sensor, and hydraulic control valve group of the fine-tuning mechanism, wherein the hydraulic control valve group of the fine-tuning mechanism is a proportional servo valve or a high-speed switching valve.

10. The combined guiding and positioning device for underwater driving of PHC piles at high-pile wharves as described in claim 9, characterized in that, Also includes: Multiple positioning guide pulley groups are evenly distributed along the circumference of the guide frame. Each positioning guide pulley group includes at least two guide wheels arranged in the vertical direction. The wheel surface of the guide wheel makes rolling contact with the outer wall of the PHC pile. The wireless communication module, located within the control unit, is used to upload real-time data collected by the control unit to the shore-based monitoring center and to receive remote control commands issued by the shore-based monitoring center.

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