CN-122014910-A - Self-adaptive deviation-correcting pipe jacking relay system and construction control method thereof

CN122014910ACN 122014910 ACN122014910 ACN 122014910ACN-122014910-A

Abstract

The application discloses a self-adaptive deviation rectifying pipe jacking relay system and a construction control method thereof. The relay cylinder body is formed by connecting a front shell and a rear shell through a sliding sealing structure, the propulsion executing mechanism is arranged between the front shell and the rear shell and consists of a plurality of hydraulic jacks distributed circumferentially, and the control module is provided with a thrust distribution algorithm and is in communication connection with the propulsion executing mechanism and the sensing monitoring module. According to the application, the control module independently adjusts the output pressure of the hydraulic jacks in different directions according to the real-time data fed back by the sensing monitoring module, so that the automatic deviation correction and the thrust compensation of the system are realized, the problems of uneven thrust distribution and delayed deviation correction control in the prior art are effectively solved, and the track precision and the safety of pipe jacking construction are obviously improved.

Inventors

WANG ZHENG
LIU DAI
GUO XIAORUI
LI JIANWEI
ZHU HEMIN
GAO CHUNYU
Qiu Honggu
Su Zhaole
WANG ZHUXING
RAO XIAOWEI

Assignees

北京通成达水务建设有限公司

Dates

Publication Date: 20260512
Application Date: 20260123

Claims (10)

1. The utility model provides a self-adaptation is rectified between push pipe relay system which characterized in that includes: The relay cylinder comprises a front shell (1) and a rear shell (2), wherein the front shell (1) is connected with the rear shell (2) through a sliding sealing structure (3); the propulsion executing mechanism is arranged between the front shell (1) and the rear shell (2) and consists of a plurality of hydraulic jacks (4) distributed circumferentially; The sensing and monitoring module is used for collecting construction state data in real time and The control module is in communication connection with the propulsion executing mechanism and the sensing monitoring module, is provided with a thrust distribution algorithm, and can independently adjust the output pressure of the hydraulic jack (4) in different directions according to the data fed back by the sensing monitoring module, so that the active deviation correction and the thrust compensation of the pipe jacking relay system are realized.
2. The self-adaptive deviation rectifying jacking pipe inter-relay system according to claim 1, characterized in that a number of hydraulic jacks (4) in the propulsion actuator are divided into at least four independent control zones; each control partition is provided with an independent electro-hydraulic proportional valve, and the control module adjusts the thrust of the corresponding partition by controlling the opening degree of the electro-hydraulic proportional valve; the sliding seal structure (3) comprises an inflatable bladder sealing ring to which an independent pressure regulating pump is connected.
3. The adaptive corrective inter-jacking pipe relay system of claim 1, wherein the sensing and monitoring module comprises: pressure sensors (5) distributed on each hydraulic jack (4) for acquiring real-time thrust values ; Displacement sensors (6) distributed at the joint of the front shell (1) and the rear shell (2) and used for collecting the stroke expansion and contraction amount ; A biaxial inclination sensor (7) mounted on the front housing (1) for acquiring the current pitch angle And roll angle ; A pore water pressure sensor (8) arranged on the front shell (1) and used for collecting water and soil pressure of the external environment 。
4. A construction control method of a self-adaptive deviation rectifying pipe-jacking relay system, which is characterized by being applicable to the self-adaptive deviation rectifying pipe-jacking relay system according to any one of claims 1-3, and comprising the following steps: s1, initializing a system, and setting a target axis track and an allowable deviation threshold; s2, acquiring attitude data and stress data of a system between the jacking pipe relays at the current moment t in real time through a sensing monitoring module in the jacking process; s3, calculating the friction resistance of the pipe wall in the current geological environment by using a dynamic friction inversion model by the control center; S4, calculating the target thrust of each control partition by using a deviation rectifying moment distribution algorithm based on the attitude deviation by the control center; S5, outputting a control instruction to a propulsion executing mechanism to execute differential jacking; S6, circularly executing S2-S5 until the jacking of the pipe joint is completed.
5. The construction control method of the self-adaptive deviation rectifying jacking pipe inter-relay system according to claim 4, wherein in the step S3, the calculation method of the dynamic friction inversion model comprises the following steps: Let the total thrust at the current time t be The instantaneous propulsion speed of the pipe-jacking relay system is that Calculating the equivalent viscous friction coefficient of the current pipe soil contact surface by the following method : Wherein m is a preset mass constant of the pushed pipe section; Is acceleration, data from a displacement sensor (6) Obtaining a second derivative of time; Normal stress of the pipe soil contact surface; Is the outer surface area of the pipe section; Equivalent coefficient of viscous friction of the output Will be the input parameter of step S4.
6. The construction control method of the self-adaptive correcting jacking pipe relay system according to claim 5, wherein in step S4, the correction torque distribution algorithm first calculates a required total correction torque vector The calculation formula is as follows: Wherein: the coordinate of the axis of the target and the current gesture data are used as deviation vectors ) Calculating to obtain; is a gain factor of a proportion of the gain, Is a differential gain coefficient; Is based on the output of step S3 The calculated drag torque caused by uneven friction is used as a feedforward compensation term.
7. The construction control method of the self-adaptive deviation-rectifying jacking pipe relay system according to claim 6, wherein the total deviation rectifying moment vector is calculated After that, it is decomposed into the first Target thrust for individual control zones The decomposition logic satisfies the following data flow constraints: input total correction moment vector modular length Angle of direction of the vehicle And basic jacking force According to the first procedure Geometric center angle of each control partition Calculating the assigned weight of the partition : Output of the first step Final instruction thrust for individual control partitions : Wherein the method comprises the steps of Is a conversion coefficient of torque turning force and needs to meet constraint conditions If the maximum thrust is exceeded Then for all And carrying out normalization reduction.
8. The construction control method of the self-adaptive deviation rectifying jacking pipe relay system according to claim 4, wherein the sliding sealing structure (3) of the jacking pipe relay system is an inflatable air bag sealing ring, the construction control method of the self-adaptive deviation rectifying jacking pipe relay system further comprises an active sealing pressure adjusting step, and the step is executed in parallel with the step S5, wherein the control center reads data of a pore water pressure sensor (8) in real time And controlling the internal inflation pressure of the airbag seal ring according to the following logic : Wherein: Takes the value range as the pressure transmission coefficient ; The pressure value is a preset safe redundant pressure value; Is a dynamic compensation term, wherein Is the propulsion speed of the pipe-jacking relay system, This step is used to automatically increase the seal packing force at high speed of advancement and decrease the packing force at stop of advancement to extend seal life.
9. The construction control method of the self-adaptive deviation rectifying jacking pipe inter-relay system according to claim 7, wherein the thrust distribution algorithm further comprises an actuator fault reconstruction mechanism: When monitoring the first Actual pressure of each control zone When the pressure is continuously lower than the command pressure and the deviation exceeds a threshold value, the control partition is judged to be invalid, and the weight is calculated Setting to 0; Subsequently triggering moment redistribution calculations, using adjacent ones And The partition bears moment component of the failure partition, and the corrected target thrust of the adjacent partition The calculation formula is as follows: Wherein, the For the target thrust of the kth control partition, The load transfer coefficient is set to be the sum moment vector generated by the thrust of each partition after the redistribution and the original total deviation rectifying moment vector Collinear.
10. The construction control method of the self-adaptive deviation rectifying jacking pipe inter-relay system according to claim 4, wherein a first step is set The number push pipe relay system is a slave node, the first in front of the slave node The number push pipe relay system or the machine head is taken as a main node, the first Propulsion speed instruction of number push pipe relay system Dynamically generating for the cascade synchronization algorithm: Wherein: as the node of the previous stage real-time propulsion speed; a target telescopic stroke is preset for the pipe-jacking relay system; is the first The current actual stroke length of the number-push pipe relay system; Is a stroke synchronization gain coefficient.

Description

Self-adaptive deviation-correcting pipe jacking relay system and construction control method thereof Technical Field The application relates to the technical field, in particular to a self-adaptive deviation rectifying pipe jacking relay system and a construction control method thereof. Background Pipe jacking construction is a non-excavation underground pipeline laying technology. In the construction of long-distance jacking pipes, a relay is a key device for relay jacking. The existing relay technology mainly adopts the hardware combination of a hydraulic pump station and an ordinary jack, and jacking is realized through manual operation or simple grouping control (such as upper, lower, left and right groups). The prior technical scheme mainly has the following technical problems in actual construction: (1) The correction control is lagged and has low precision, and the prior art mostly adopts a mode of 'post correction', namely, the correction is manually inserted only after the measurement finds that the axis of the pipe joint has obvious deviation. This passive approach tends to cause the pipe trajectory to exhibit a "serpentine" swing. Moreover, due to lack of accurate algorithm support, the required correction moment is difficult to accurately calculate manually, and the situation of excessive correction or insufficient correction is easy to occur; (2) The uneven distribution of thrust forces causes damage to pipe joints or instability in attitude, and in complex geology, the distribution of frictional resistance around the pipeline is uneven (such as upper soft and lower hard strata). The prior art generally supplies all jacks with the same hydraulic oil pressure or only roughly zoned. When geology is uneven, the side with small friction force is pushed too fast, and the side with large friction force is pushed too slow, so that unexpected additional moment is generated, the attitude deflection of the pipeline is aggravated, and when serious, the case deformation or pipe joint port collapse between relays is even caused by overlarge local stress; (3) The lack of thrust optimization based on geological feedback is that current jacking control is 'blind', and an operator cannot know the real-time friction coefficient under the current geological environment. When geological mutation is encountered, the system cannot adjust the thrust strategy in time, so that the construction efficiency is low, and engineering accidents are easily caused by forced jacking. In summary, the prior art lacks an intelligent inter-relay system capable of sensing the gesture in real time, actively calculating based on geological feedback and precisely distributing thrust in each direction. Disclosure of Invention In order to solve the technical problems in the prior art, the application provides a self-adaptive deviation rectifying pipe jacking relay system and a construction control method thereof, and solves the technical problems of low deviation rectifying precision, uneven thrust distribution and incapability of adapting to geological changes caused by lack of an active sensing and independent thrust distribution algorithm in the prior art. The application provides a self-adaptive deviation rectifying jacking pipe relay system and a construction control method thereof, which adopt the following technical scheme: a self-adaptive deviation rectifying pipe jacking relay system and a construction control method thereof, comprising the following steps: the relay room cylinder comprises a front shell and a rear shell, wherein the front shell and the rear shell are connected through a sliding sealing structure; The propulsion executing mechanism is arranged between the front shell and the rear shell and consists of a plurality of hydraulic jacks distributed circumferentially; The sensing and monitoring module is used for collecting construction state data in real time and The control module is in communication connection with the propulsion executing mechanism and the sensing monitoring module, is provided with a thrust distribution algorithm, and can independently adjust the output pressure of the hydraulic jack in different directions according to the data fed back by the sensing monitoring module, so that the active deviation correction and the thrust compensation of the pipe jacking relay system are realized. In some embodiments, the plurality of hydraulic jacks in the propulsion actuator are divided into at least four independent control zones; each control partition is provided with an independent electro-hydraulic proportional valve, and the control module adjusts the thrust of the corresponding partition by controlling the opening degree of the electro-hydraulic proportional valve; The sliding seal structure comprises an inflatable air bag sealing ring, and an independent pressure regulating pump is connected with the air bag sealing ring. In some embodiments, the sensing module comprises: pressure sensors distributed