CN107861531B - Method for automatically matching guniting flow and lifting speed of processor of offshore deep cement mixing ship - Google Patents
Method for automatically matching guniting flow and lifting speed of processor of offshore deep cement mixing ship Download PDFInfo
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- CN107861531B CN107861531B CN201711037829.9A CN201711037829A CN107861531B CN 107861531 B CN107861531 B CN 107861531B CN 201711037829 A CN201711037829 A CN 201711037829A CN 107861531 B CN107861531 B CN 107861531B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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Abstract
The method for automatically matching the guniting flow and the lifting speed of the deep cement mixing ship processor is characterized by comprising the following steps of firstly, providing a control model of an automatic matching algorithm: the total guniting quantity Q is more than or equal to Q according to the general requirements of constructionSTherefore, the flow rate of gunite
Wherein D is the length of the pile and V is the winch lifting speed. The regulation of the shotcrete flow is effected by regulating the rotational speed of the slurry pump, and
wherein T is the rotational speed of the slurry pump, TSFor the rated speed of the slurry pump, FSThe rated spraying flow rate of the slurry pumps is provided, and p is the number of the slurry pumps. Therefore, the temperature of the molten steel is controlled,
based on the control model of the automatic matching algorithm, the control method for the guniting flow F and the lifting speed V of the processor of the offshore deep cement-soil mixing ship provided by the invention has mutual influence on the control of the two parameters and is relatively independent. The automatic matching control algorithm may operate in a fully automatic mode or in a semi-automatic mode.
Description
Technical Field
The invention belongs to the technical field of ocean foundation treatment engineering, and particularly relates to a technology for automatically matching guniting flow and lifting speed of a deep cement mixing ship processor at sea.
Background
The deep cement mixing pile uses cement as main agent of solidifying agent, and uses special deep mixing machine to forcedly mix soft soil and solidifying agent in the deep portion of foundation so as to make the soft soil be hardened and raise the strength of foundation. The construction of the deep mixing pile is to use mixing wings to forcibly mix the cement paste and the soft soil. The key points of quality inspection of each formed mixing pile are cement consumption, whether slurry breaking occurs in the grouting process or not and the mixing frequency of slurry spraying and mixing. The "minimum dosage" of cement mixing piles means the minimum weight of cement per meter of soil cement to increase and achieve the unconfined compressive strength required for a given project. How to ensure the pile forming quality of the deep cement mixing pile by effectively controlling the flow rate and the lifting speed of the guniting machine so as to ensure that each pile can achieve the minimum dosage and ensure the effect of soft foundation treatment is a topic explored in engineering practice.
In the traditional construction process, the control on the guniting flow and the lifting speed of the processor is only in a manual mode, and the rotating speed of the slurry pump can be manually adjusted to be matched with a design value only by virtue of the experience of an operator. The manual operation is not accurate, the response time is long, if an emergency occurs, the slurry spraying amount and the lifting speed cannot be adjusted in time, less spraying is possible, the final pile forming strength is affected, more spraying is possible, waste is caused, and the construction cost is increased.
Disclosure of Invention
The invention aims to solve the technical problem that the deep cement mixing ship at sea effectively controls the spraying amount and the lifting speed of a processor, so as to ensure the pile forming quality of deep cement mixing piles, ensure that each pile can achieve the minimum dosage and ensure the effect of soft foundation treatment.
A method for automatically matching the guniting flow and the lifting speed of a processor of an offshore deep cement mixing vessel is characterized in that,
first, a control model of the auto-match algorithm is given: the total guniting quantity Q is more than or equal to Q according to the general requirements of constructionSTherefore, the flow rate of gunite
Wherein D is the length of the pile and V is the winch lifting speed. The regulation of the shotcrete flow is effected by regulating the rotational speed of the slurry pump, and
wherein T is the rotational speed of the slurry pump, TSFor the rated speed of the slurry pump, FSThe rated spraying flow rate of the slurry pumps is provided, and p is the number of the slurry pumps. Therefore, the temperature of the molten steel is controlled,
based on the control model of the automatic matching algorithm, the control method for the guniting flow F and the lifting speed V of the processor of the offshore deep cement-soil mixing ship provided by the invention has mutual influence on the control of the two parameters and is relatively independent. The automatic matching control algorithm may operate in a fully automatic mode or in a semi-automatic mode. The method is suitable for complex working conditions in the construction process, the guniting flow is flexibly adjusted, the construction is smoothly carried out, and all modes are matched to operate.
In the construction process, the automatic matching control steps of the guniting flow are as follows (namely, a semi-automatic mode):
the method comprises the following steps: the controller collects flow meter data and a winch encoder rotating speed value, and calculates whether the requirement of the guniting flow F is met, if the requirement of construction is met, the step two is skipped, and the step three is carried out; if not, entering the step two.
Step two: collecting a mud pump encoder rotating speed value, calculating to judge whether the mud pump rotating speed value T is consistent with a construction set value, if not, adjusting the mud pump rotating speed according to a matching algorithm, and entering a fourth step; and if so, entering the third step.
Step three: and (4) judging whether the winch is in an automatic mode, if so, adjusting the lifting speed of the winch according to a matching algorithm, and entering the step four.
Step four: judging whether the mud pump synchronization is finished, if so, entering a fifth step; and if not, performing interface alarm display.
Step five: judging whether the slurry pump is in an automatic mode, if so, entering a sixth step; if in manual mode, smoothing the speed parameter;
step six: and judging whether the slurry spraying of the slurry pump is finished or not, if not, jumping back to the step one, if so, entering the step seven.
Step seven: and (5) finishing automatic slurry spraying of the slurry pump.
In the construction process, simultaneously, the automatic matching control steps of the lifting speed of the winch are as follows (namely, in a semi-automatic mode):
the method comprises the following steps: and (5) judging whether the winch reaches the operation set depth or not, and if so, entering the step two.
Step two: and the controller collects the data of the flowmeter and compares the data with the set guniting flow, if the data does not reach the set guniting flow, the step three is carried out, and if the data reaches the set guniting flow, the step four is carried out.
Step three: and the controller collects the rotating speed value of the mud pump encoder and the rotating speed value of the winch encoder, judges whether the rotating speed of the mud pump meets a set value or not, automatically adjusts the lifting speed of the winch according to a matching algorithm if the rotating speed of the mud pump meets the set value, enables the guniting flow to meet the construction requirement, and enters the fourth step.
Step four: judging whether the stirring times meet a set value, if so, entering a fifth step; if not, adjusting the lifting speed to meet the requirement of the stirring times, and entering the step five.
Step five: judging whether the winch is in an automatic mode, if so, entering a sixth step; if in manual mode, the speed parameter is smoothed.
Step six: and judging whether the automatic lifting of the winch is finished or not.
When the optimal working condition is not provided with any obstacle, the system can jump to the full-automatic mode, namely a slurry pump automatic control mode and a processor lifting winch automatic control mode, the operation steps are as follows, the efficiency is high, and experience is not required to depend on any manual intervention:
step 1: and setting construction parameters such as the guniting flow, the lifting speed of a processor, the pile length D, the guniting quantity design value, the rotating speed of a slurry pump and the rotating speed of a stirring wing at each stage in construction management system software.
Step 2: the controller collects a flow count value and a winch encoder rotating speed value, calculates whether the requirement of the guniting flow F is met, and if the requirement of the construction is met, skips the step 3 and carries out the step 4; if not, the step proceeds to step 3.
And step 3: and respectively comparing the rotating speed value of the mud pump encoder and the rotating speed value of the winch encoder acquired by the controller with a construction set value, and if the rotating speed T of the mud pump is consistent with the set value and the lifting speed V of the winch is inconsistent with the set value, adjusting the lifting speed V of the winch according to the matching algorithm model. And if the rotating speed T of the mud pump is inconsistent with the set value and the lifting speed V of the winch is consistent with the set value, adjusting the rotating speed T of the mud pump according to the matching algorithm model. And if the rotating speed T of the mud pump is inconsistent with the set value and the lifting speed V of the winch is inconsistent with the set value, preferentially adjusting the rotating speed T of the mud pump. And after the adjustment is finished, the step 2 is skipped.
And 4, step 4: and (3) the controller acquires winch encoder data, compares the winch encoder data with the set operation depth d through calculation, and jumps back to the step 2 if the operation depth d is not finished, or goes to the step 5 if the operation depth d is finished.
And 5: the controller collects the data of the flowmeter and compares the data with the set total guniting amount, if the data is not finished, the step 4 is skipped back, and if the data is finished, the step 6 is carried out;
step 6: and finishing the construction.
And 7: when running in the full-automatic working mode and encountering obstacles, the system can jump to the semi-automatic running mode to avoid shutdown, maximally ensure the working efficiency, and jump to the step 1 of the full-automatic mode after the obstacles are eliminated.
The invention solves the technical problem that the offshore deep cement mixing ship effectively controls the guniting flow and the lifting speed of the processor, meets the requirement of the total guniting amount, has more uniform guniting process, ensures the pile forming quality of the deep cement mixing pile, ensures the soft foundation treatment effect and avoids waste.
Drawings
FIG. 1 is a block diagram of a control system for the automatic matching technology of the guniting flow and the lifting speed of a deep cement mixing ship
Fig. 2 is a control flow chart of a six-quantity automatic and lifting speed matching technology of deep cement mixing ship guniting.
FIG. 3 is a flow chart of the control of the technology for automatically matching the lifting speed of the deep cement mixing ship with the guniting flow.
Detailed Description
The invention is further described below with reference to examples and figures.
Example 1
Giving a control model of the automatic matching algorithm: the total guniting quantity Q is more than or equal to Q according to the general requirements of constructionSTherefore, the flow rate of gunite
Wherein D is the length of the pile and V is the winch lifting speed. The regulation of the shotcrete flow is effected by regulating the rotational speed of the slurry pump, and
wherein T is the rotational speed of the slurry pump, TSFor the rated speed of the slurry pump, FSThe rated spraying flow rate of the slurry pumps is provided, and p is the number of the slurry pumps. Therefore, the temperature of the molten steel is controlled,
based on the control model of the automatic matching algorithm, the control method for the guniting flow F and the lifting speed V of the processor of the offshore deep cement-soil mixing ship provided by the invention has mutual influence on the control of the two parameters and is relatively independent. The automatic matching control algorithm may operate in a fully automatic mode or in a semi-automatic mode. The method is suitable for complex working conditions in the construction process, the guniting flow is flexibly adjusted, the construction is smoothly carried out, and all modes are matched to operate.
In the construction process, the automatic matching control steps of the guniting flow are as follows (as shown in figure 2):
the method comprises the following steps: the controller collects flow meter data and a winch encoder rotating speed value, and calculates whether the requirement of the guniting flow F is met, if the requirement of construction is met, the step two is skipped, and the step three is carried out; if not, entering the step two.
Step two: collecting a mud pump encoder rotating speed value, calculating to judge whether the mud pump rotating speed value T is consistent with a construction set value, if not, adjusting the mud pump rotating speed according to a matching algorithm, and entering a fourth step; and if so, entering the third step.
Step three: and (4) judging whether the winch is in an automatic mode, if so, adjusting the lifting speed of the winch according to a matching algorithm, and entering the step four.
Step four: judging whether the mud pump synchronization is finished, if so, entering a fifth step; and if not, performing interface alarm display.
Step five: judging whether the slurry pump is in an automatic mode, if so, entering a sixth step; if in manual mode, smoothing the speed parameter;
step six: and judging whether the slurry spraying of the slurry pump is finished or not, if not, jumping back to the step one, if so, entering the step seven.
Step seven: and (5) finishing automatic slurry spraying of the slurry pump.
In the construction process, simultaneously, the automatic matching control steps of the lifting speed of the winch are as follows (as shown in figure 3):
the method comprises the following steps: and (5) judging whether the winch reaches the operation set depth or not, and if so, entering the step two.
Step two: and the controller collects the data of the flowmeter and compares the data with the set guniting flow, if the data does not reach the set guniting flow, the step three is carried out, and if the data reaches the set guniting flow, the step four is carried out.
Step three: and the controller collects the rotating speed value of the mud pump encoder and the rotating speed value of the winch encoder, judges whether the rotating speed of the mud pump meets a set value or not, automatically adjusts the lifting speed of the winch according to a matching algorithm if the rotating speed of the mud pump meets the set value, enables the guniting flow to meet the construction requirement, and enters the fourth step.
Step four: judging whether the stirring times meet a set value, if so, entering a fifth step; if not, adjusting the lifting speed to meet the requirement of the stirring times, and entering the step five.
Step five: judging whether the winch is in an automatic mode, if so, entering a sixth step; if in manual mode, the speed parameter is smoothed.
Step six: and judging whether the automatic lifting of the winch is finished or not.
When no obstacle appears in the best working condition, the system can run in a full-automatic mode, namely a slurry pump automatic control mode and a processor lifting winch automatic control mode, and the operation steps are as follows:
step 1: and setting construction parameters such as the guniting flow, the lifting speed of a processor, the pile length D, the guniting quantity design value, the rotating speed of a slurry pump and the rotating speed of a stirring wing at each stage in construction management system software.
Step 2: the controller collects a flow count value and a winch encoder rotating speed value, calculates whether the requirement of the guniting flow F is met, and if the requirement of the construction is met, skips the step 3 and carries out the step 4; if not, the step proceeds to step 3.
And step 3: and respectively comparing the rotating speed value of the mud pump encoder and the rotating speed value of the winch encoder acquired by the controller with a construction set value, and if the rotating speed T of the mud pump is consistent with the set value and the lifting speed V of the winch is inconsistent with the set value, adjusting the lifting speed V of the winch according to the matching algorithm model. And if the rotating speed T of the mud pump is inconsistent with the set value and the lifting speed V of the winch is consistent with the set value, adjusting the rotating speed T of the mud pump according to the matching algorithm model. And if the rotating speed T of the mud pump is inconsistent with the set value and the lifting speed V of the winch is inconsistent with the set value, preferentially adjusting the rotating speed T of the mud pump. And after the adjustment is finished, the step 2 is skipped.
And 4, step 4: and (3) the controller acquires winch encoder data, compares the winch encoder data with the set operation depth d through calculation, and jumps back to the step 2 if the operation depth d is not finished, or goes to the step 5 if the operation depth d is finished.
And 5: the controller collects the data of the flowmeter and compares the data with the set total guniting amount, if the data is not finished, the step 4 is skipped back, and if the data is finished, the step 6 is carried out;
step 6: and finishing the construction.
Claims (2)
1. A method for automatically matching the guniting flow and the lifting speed of a processor of an offshore deep cement mixing vessel is characterized in that,
first, a control model of the auto-match algorithm is given: the total spraying amount Q is more than or equal to Q according to the construction requirementSTherefore, the flow rate of gunite
Wherein D is the length of the pile and V is the lifting speed of the winch; the regulation of the shotcrete flow is effected by regulating the rotational speed of the slurry pump, and
wherein T is the rotational speed of the slurry pump, TSFor the rated speed of the slurry pump, FSRated spraying flow rate is provided for the slurry pumps, and p is the number of the slurry pumps; therefore, the temperature of the molten steel is controlled,
based on the control model of the automatic matching algorithm, the control method for the guniting flow F and the lifting speed V of the deep cement mixing ship processor on the two parameters has mutual influence and is relatively independent; the automatic matching algorithm can be operated in a full-automatic mode or a semi-automatic mode;
in the construction process, the automatic matching control steps of the guniting flow under the semi-automatic mode are as follows:
the method comprises the following steps: the controller collects flow meter data and a winch encoder rotating speed value, and calculates whether the requirement of the guniting flow F is met, if the requirement of construction is met, the step two is skipped, and the step three is carried out; if not, entering the step two;
step two: collecting a mud pump encoder rotating speed value, calculating to judge whether the mud pump rotating speed value T is consistent with a construction set value, if not, adjusting the mud pump rotating speed according to a matching algorithm, and entering a fourth step; if the two are consistent, entering a third step;
step three: judging whether the winch is in an automatic mode, if so, adjusting the lifting speed of the winch according to a matching algorithm, and entering the step four;
step four: judging whether the mud pump synchronization is finished, if so, entering a fifth step; if not, performing interface alarm display;
step five: judging whether the slurry pump is in an automatic mode, if so, entering a sixth step; if in manual mode, smoothing the speed parameter;
step six: judging whether slurry spraying of the slurry pump is finished or not, if not, jumping back to the first step, and if so, entering a seventh step;
step seven: the automatic slurry spraying of the slurry pump is finished;
in the construction process, simultaneously, the automatic matching control steps of the lifting speed of the winch in the semi-automatic mode are as follows:
the method comprises the following steps: judging whether the winch reaches the operation set depth or not, and if so, entering the second step;
step two: the controller collects the data of the flowmeter and compares the data with the set guniting flow, if the data does not reach the set guniting flow, the step three is carried out, and if the data reaches the set guniting flow, the step four is carried out;
step three: the controller collects the rotating speed value of the mud pump encoder and the rotating speed value of the winch encoder, judges whether the rotating speed of the mud pump meets a set value or not, automatically adjusts the lifting speed of the winch according to a matching algorithm if the rotating speed of the mud pump meets the set value, enables the guniting flow to meet the construction requirement, and enters a fourth step;
step four: judging whether the stirring times meet a set value, if so, entering a fifth step; if not, adjusting the lifting speed to meet the requirement of the stirring times, and entering the fifth step;
step five: judging whether the winch is in an automatic mode, if so, entering a sixth step; if in manual mode, smoothing the speed parameter;
step six: and judging whether the automatic lifting of the winch is finished or not.
2. The method for automatically matching the shotcrete flow rate and the lifting speed of the deep sea cement mixing vessel processor as claimed in claim 1, wherein when the working conditions are optimal and no obstacle appears, the system can jump to the full-automatic mode, namely a slurry pump automatic control mode and a processor lifting winch automatic control mode, the operation steps are as follows, with high efficiency and without depending on any manual intervention through experience:
step 1: setting construction parameters of the guniting flow, the lifting speed of a processor, the pile length D, the guniting quantity design value, the rotating speed of a slurry pump and the rotating speed of a stirring wing at each stage in construction management system software;
step 2: the controller collects a flow count value and a winch encoder rotating speed value, calculates whether the requirement of the guniting flow F is met, and if the requirement of the construction is met, skips the step 3 and carries out the step 4; if not, entering step 3;
and step 3: respectively comparing the rotating speed value of a mud pump encoder and the rotating speed value of a winch encoder acquired by the controller with a construction set value, and if the rotating speed T of the mud pump is consistent with the set value and the lifting speed V of the winch is inconsistent with the set value, adjusting the lifting speed V of the winch according to the automatic matching algorithm; if the rotating speed T of the slurry pump is inconsistent with the set value and the lifting speed V of the winch is consistent with the set value, adjusting the rotating speed T of the slurry pump according to the automatic matching algorithm; if the rotating speed T of the mud pump is inconsistent with the set value and the lifting speed V of the winch is inconsistent with the set value, preferentially adjusting the rotating speed T of the mud pump; after the adjustment is finished, the step 2 is skipped;
and 4, step 4: the controller acquires winch encoder data, compares the winch encoder data with a set operation depth d through calculation, and jumps back to the step 2 if the operation depth d is not finished, or goes to the step 5 if the operation depth d is finished;
and 5: the controller collects the data of the flowmeter and compares the data with the set total guniting amount, if the data is not finished, the step 4 is skipped back, and if the data is finished, the step 6 is carried out;
step 6: finishing construction;
and 7: when running in the full-automatic working mode and encountering obstacles, the system can jump to the semi-automatic running mode to avoid shutdown, maximally ensure the working efficiency, and jump to the step 1 of the full-automatic mode after the obstacles are eliminated.
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