EP0932726B1 - Method of measuring mechanical data of a soil, and of compacting the soil, and measuring or soil-compaction device - Google Patents

Method of measuring mechanical data of a soil, and of compacting the soil, and measuring or soil-compaction device Download PDF

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Publication number
EP0932726B1
EP0932726B1 EP97943717A EP97943717A EP0932726B1 EP 0932726 B1 EP0932726 B1 EP 0932726B1 EP 97943717 A EP97943717 A EP 97943717A EP 97943717 A EP97943717 A EP 97943717A EP 0932726 B1 EP0932726 B1 EP 0932726B1
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EP
European Patent Office
Prior art keywords
soil
compacting
oscillation
frequency
measuring
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EP97943717A
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German (de)
French (fr)
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EP0932726A1 (en
Inventor
Roland Anderegg
Hans Ulrich Leibundgut
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Ammann Verdichtung AG
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Ammann Verdichtung AG
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/288—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements

Definitions

  • the invention relates to a method for measuring mechanical Data of a compacted or compacted soil, a compression process to achieve an optimal, in particular homogeneous soil compaction, a measuring device for measuring mechanical data of a compressed or soil to be compacted and a soil compaction device for optimal homogeneous soil compaction.
  • WO 95/10664 describes a method for soil compaction known.
  • the frequency a rotating unbalance adjusted so that with the compaction unit in contact with the soil to be compacted a predetermined value of harmonics - here the double fundamental - does not exceed. Falling below this predetermined value is called the stability criterion considered.
  • the stability criterion considered.
  • One of the accelerometers measures the horizontal and the one others the vertical acceleration component. It will be the Vibration amplitude of the compression device and the Direction of the maximum compression amplitude determined.
  • the Frequency of the eccentric and its weight as well as the rolling speed can be adjusted with computer assistance.
  • the object of the invention is a measuring or soil compaction method show and a measuring or soil compaction device to create with the one homogeneous soil compaction in a compaction process as few crossings as possible, especially if one is specified desired floor stiffness and / or in particular one desired elastic modulus is achievable as well as mechanical Data of the soil to be compacted or compacted can be determined are.
  • the focus is not on the local phase position of a maximum oscillation amplitude of a compression or measuring device, but on the temporal phase of the exciting oscillation of the eccentric (s) to the phase of the excited Vibration of the soil compaction or measuring system, which is identical to that of the compaction or measuring device.
  • work is also carried out in the resonance region of an oscillation system, formed from the compression or measuring device acting on the soil to be compacted (or already compacted) and the soil.
  • the known soil compaction device of EP-A 0 459 062 operates in the resonance range of its compaction device, but it is not possible for it to determine the soil rigidity c B achieved by the compaction and to optimize the entire compaction process on the basis of these determined values.
  • the double tandem vibration roller 1 shown in FIG . 1 with articulated steering has a front and a rear drum 3a and 3b as a soil compacting device.
  • only one of the bandages is in each case considered 3a and 3b which, if there is no difference between the front and rear drums 3a and 3b is, is referred to by the reference number.
  • 3 A coupling between the two bandages 3a and 3b in the double tandem vibration roller 1 described here, for example, is negligible for the operating behavior.
  • the bandage 3 has a rotating unbalance 5 with an adjustable static unbalance moment m u ⁇ r u .
  • the unbalance moment is set by changing the radial unbalance distance ru of unbalance 5 .
  • the setting of the moment of inertia and the frequency f is described below.
  • the mass m u of the unbalance is arranged in a rotating manner at a distance r u from the axis of rotation 7 of the drum 3 .
  • the static unbalance moment is therefore m u ⁇ u [kg ⁇ m].
  • An acceleration sensor 11 is provided vertically above the axis of rotation 7 on the side of a carrier tab 9 of the drum holding fork 10 . With the acceleration sensors 11 acceleration values of the drum 3 in the vertical direction are measured.
  • the acceleration sensor 11 is connected in terms of signal to a computing unit 12 , which determines the vibration amplitude a of the drum 3 by means of two integrations.
  • the drum holding fork 10 is connected to the machine chassis 15 via spring and damping elements 13 and 14 . Spring and damping elements 13 and 14 are designed such that the dynamic forces in the damping element 14 are significantly smaller than the static ones.
  • the movement or the acceleration of the drum 3 is measured with the acceleration sensor 11 .
  • 1/2 refers to half the angular frequency ⁇ , 3/2 to one and a half times and 5/2 to two and a half times the angular frequency ⁇ .
  • a is the maximum amplitude value of the partial vibration in question.
  • ⁇ denotes the phase assignments of the partial vibrations to each other.
  • the soil 20 to be compacted is represented as a spring 17 and a damping element 19 .
  • a soil compaction system which contains the bandage 3 with vibration-stimulating imbalance 5 , the spring element 17 and the damping element 19 of the soil 20 to be compacted, and the spring element 13 and the damping element 14 between the bandage 3 and the machine chassis 15 , has a natural vibration. That this is so, it follows from the measurement curves shown in Figure 4.
  • the oscillation angular frequency ⁇ of the bandage 3 is plotted on the abscissa and the measured maximum oscillation amplitude a is plotted on the ordinate.
  • the oscillation circuit frequency ⁇ is normalized to the natural frequency w 0 of the soil compaction system and the value a to a value a 0 .
  • the curve parameter is the static unbalance moment [product of an unbalanced mass m u and the radial distance r u from the axis 7 ].
  • the unbalance moment of curve 21a is smaller than that of curve 21b , etc.
  • roller 1 begins to jump [case c]. Curve 23 must therefore not be exceeded in compression mode.
  • the family of resonance curves 21a to 21d represents an essential identification variable of the operating behavior of the soil compaction system. As explained below, the various influences of the machine parameters and the basic course of the compaction process can be read from it. Compaction is optimal when the soil compaction system, formed from the compaction device acting on the soil 20 to be compacted and the soil 20 to be compacted, resonates, that is to say it can be carried out fastest and with the least energy expenditure.
  • the ground stiffness c B is usually between 20 MN / m and 130 MN / m. It is determined according to the invention as described below.
  • the natural frequency w 0 is most easily measured by driving over the floor 20 with a small static unbalance torque according to curve 21a .
  • the frequency of the unbalance 5 at the maximum curve value 25 of a / a 0 indicates the natural frequency w 0 .
  • m f is the load on the machine chassis 15 per drum 3.
  • g is the acceleration due to gravity with g ⁇ 10.
  • This passage is identical to the time of the maximum unbalance force directed against the floor 20 .
  • the maximum force acting against the floor 20 is transmitted from the bandage 3 into the floor 20 and takes place with a phase shift by the angle ⁇ . That is, the phase shift ⁇ reflects the position of the exciting vibration due to the unbalance 5 relative to the vibration of the soil compaction system.
  • a maximum compaction force in the soil 20 is achieved when the soil compaction system resonates.
  • the soil compaction system always resonates at maximum values of curves 21a to 21d , which lie on curve 27 .
  • there is a phase shift of the exciting vibration system through the unbalance 5 to the soil compaction system of ⁇ 90 °. That is, an optimal compaction is given with roller parameters [static unbalance moment m u ⁇ r u and unbalance rotation frequency ⁇ ], which enable operation on curve 27 .
  • the resonance curves 21a to 21d in FIG. 4 are now recorded with constant soil properties.
  • the oscillation amplitude responsible for the compaction of the soil 20 changes very strongly in the sub-resonant range [oscillation circle frequency ⁇ is less than the resonance frequency, phase angle ⁇ is less than 90 °]; in the over-resonant range [oscillation circuit frequency ⁇ is greater than the resonance frequency, phase angle ⁇ is greater than 90 °], however, relatively little.
  • the over-resonant range is therefore selected and the phase angle ⁇ is set to a range between 95 ° and 110 °, preferably 100 °.
  • the phase angle ⁇ is set at a predetermined static unbalance torque m u ⁇ u by a reduction in the rotational angular frequency ⁇ of the unbalance 5 .
  • a predetermined static unbalance torque m u ⁇ u by a reduction in the rotational angular frequency ⁇ of the unbalance 5 .
  • the area of roller jumping characterized by the area above curve 23 , must of course be avoided. An intrusion into this area is perceived by the roller operator by a different vibration behavior of his roller 1 .
  • vibrations occur with half the frequency [and odd multiples] of the orbital frequency ⁇ of the unbalance 5 .
  • This unstable [jumping] operation can also be determined by the fact that successive vibration amplitudes of the bandage 3 are of different heights.
  • the compaction amplitude of the drum 3 must be chosen as large as possible.
  • the required amplitude is automatically set by the computing unit 12 and an actuator 36 , as explained below.
  • the travel speed v of the roller 1 is also set to a uniform compression work per travel unit despite the variable orbital frequency ⁇ of the unbalance 5 .
  • the speed setpoint depends on the type of layer to be compacted.
  • a bottom element 37 as shown in FIG. 5 , at a depth z 0 “sees” a two-banded roller 1 passing by at a speed v during the compaction process.
  • this sees a different load peak 39 according to FIG. 6 .
  • the two load profiles for the two bandages 3a and 3b , the pulse train 40a coming from the bandage 3a and the pulse train 40b coming from the bandage 3b can be superposed linearly. Their effects add up.
  • an overlap zone 41 can form, in which load components act on the floor element 37 from both bandages 3a and 3b .
  • the time interval t s of the load components acting on the floor element 37 should be kept constant during operation in order to always achieve the same compression quality.
  • the roller 1 controlled according to the invention is operated with increasing ground rigidity c B with a higher orbital frequency ⁇ , which then results in an increased travel speed v . That means that the compression takes place faster and faster.
  • compaction is now no longer carried out only on a constant shear modulus, but on a predefined, preferably constant ground stiffness c B and, if necessary, on a predefined, constant elastic modulus E.
  • a predefined, preferably constant ground stiffness c B and, if necessary, on a predefined, constant elastic modulus E With the previous rollers and compaction machines, it was always assumed that at least minimal compaction, defined by the soil stiffness c B or the soil elasticity module E , would be achieved.
  • the large differences between minimum and maximum compaction resulting from the known methods lead to the known, but undesirable irregular sinking and unevenness, for example of road surfaces. These differences are avoided by the invention.
  • the method according to the invention compresses, inter alia, to a constant modulus of elasticity E.
  • a constant soil elasticity module E in contrast to the known soils compacted to minimal soil stiffness, results in significantly greater long-term stability. It is emphasized once again that not only is a predetermined soil stiffness c B , but also a predetermined soil elasticity module E is compressed. For example, a floor 20 of a road structure compacted to a constant soil elasticity module will lower uniformly as it ages as a result of the traffic load and thus retain its flatness for a much longer time than one which is compacted according to the prior art. Road structures compacted according to the known methods become uneven over time due to inhomogeneous compaction, tear on the surface and are then exposed to destruction by traffic and weather influences.
  • the soil elasticity module E is continuously determined with the roller 1 and the machine parameters are continuously adjusted, it being important here that no hollows remain in the soil, ie the soil surface 42 is already well compacted.
  • the exact soil elasticity module E is only of interest at the end of the compaction process. At this point, however, the soil surface ( 42 ) is already sufficiently compacted.
  • the soil elasticity module E results from the following formula [3].
  • E c B ⁇ 2 (1 ⁇ 2nd ) L ⁇ ⁇ ⁇ ⁇ 1.89 + 1 ⁇ 2ln [ ⁇ ⁇ L 3rd ⁇ E 16 (1 ⁇ 2nd ) (m f + m d ) ⁇ G ⁇ R ] ⁇
  • ⁇ is the vertical speed of the drum 5 .
  • L [m] is the width of the bandage 3
  • (m f + m d ) the weight bearing on each bandage 3a or 3b plus the weight of the bandage 3a or 3b concerned
  • R [m] is the radius of the bandage 3
  • g [ 10 m / s 2 ] the acceleration due to gravity and ln the natural logarithm. All values for the automatic determination of the soil stiffness c B are thus known or can be determined by the computing unit 12 , whereby the elasticity module E can also be determined with the computing unit 12 .
  • the first roll has an elastic modulus E 1 , a radius R 1 and a transverse contraction number ⁇ 1 .
  • the second roll has an elastic modulus E 2 , a radius R 2 and a transverse contraction number ⁇ 2 . Both rolls have the length L.
  • E1 ⁇ ⁇ can thus be set in relation to E 2 .
  • the force P acting on the first roller is a function of time in a soil compacting device. It is not constant over time.
  • the force P is identical to the ground reaction force F in equations [6], [7] and [8]. The time averaging over the force P during one revolution of the drum 3 results
  • ⁇ (b / L) 2nd ⁇ ⁇ [1.89 + 1 2nd ln [ ⁇ ⁇ E 2nd ⁇ L 3rd 16 (1 ⁇ 2nd 2nd ) ⁇ R 1 ⁇ (M f + m d ) ⁇ G ]
  • the soil areas to be compacted must be run over by roller 1 more often. Since it is usually a non-pre-compacted soil, maximum compaction is carried out in a first or subsequent compaction crossing.
  • the orbital frequency ⁇ of the unbalance 5 is increased to a value ⁇ 0 , which lies above the resonance of the above-mentioned soil compaction system.
  • the respective travel speed v of the roller 1 is adapted to the rotational frequency f of the unbalance 5 in accordance with the above statements.
  • the dependence of the amplitude a of the bandage 3 on the orbital frequency ⁇ takes place according to curve 43a .
  • At point 45 is the resonance of the soil compaction system. This resonance point is exceeded for the tolerance reasons stated above until the phase angle ⁇ between the drum vibration and the unbalance vibration is approximately 100 ° [point 47].
  • the static unbalance moment is increased by increasing the radial distance r u0 to r u1 [m u ⁇ r u1 ].
  • the phase angle ⁇ increases to a value greater than 100 °, as can be seen from the distance of the new setting point 50 from the resonance curve 49 (analogously to curve 27 in FIG. 4 ).
  • the orbital frequency of the unbalance 5 is reduced from ⁇ 0 to ⁇ 1 with a constant static unbalance torque [m u ⁇ r u1 ] until the phase angle ⁇ is again only 100 °.
  • the maximum compaction performance is used.
  • the plastic behavior results from the measured values determined. In the "plastic range", the floor stiffness c B can only be determined approximately. Knowing well that the determination of the soil elastic modulus is affected by an error on a still plastic substrate, it is calculated according to the above statements. When approximately 90% of the required soil elasticity value is reached, the plastic range is exceeded and the control uses the above-mentioned calculation method to set the static unbalance torque m u ⁇ r u and the unbalance rotation frequency f (unbalance rotation circle frequency ⁇ ) in such a way that a predetermined soil elasticity module E is reached.
  • the computation unit 12 can determine the soil elasticity module E that has already been reached during the compaction process, and from these values then the machine parameters in question for the further compaction process, such as static unbalance moment m u ⁇ r u , Unbalance frequency f and travel speed v .
  • the setting is made during the procedure.
  • the travel speed v can be set quickly and easily.
  • the procedure followed for example, is as follows.
  • two unbalances 56 and 64 rotating in the same direction can be used, the mutual radial distance of which is set via a planetary gear. If the radial distance is 180 °, the effective total unbalance value is zero. At 0 ° the unbalance value is maximum. With angle values between 0 ° and 180 °, all intermediate values between zero and maximum unbalanced mass can be set.
  • the planetary gear 53 shown schematically in FIG. 8 serves to drive two unbalances 56 and 64 rotating in the same direction, the mutual position of which can be adjusted m u ⁇ u to set the static unbalance torque .
  • it is no longer the radial distance r u of a point-like eccentric mass that is set, but the effective unbalanced mass m u with the same radial distance r u .
  • the planetary gear 53 shown in FIG. 8 is driven by a drive 54 via a shaft 55 which acts directly on the balancer 56 without any intermediate gear.
  • a toothed belt pulley 57 is arranged on the shaft 55 and acts on a toothed belt pulley 60 via a toothed belt 59 .
  • the toothed belt pulley 60 in turn interacts with a gear part 61 .
  • the gear part 61 has three meshing gears 63a, 63b and 63c , the gear 63a being connected to the toothed belt pulley 60 in a rotationally fixed manner.
  • the axis of the gear 63b can be rotated radially to the axis of rotation of the gear 63a .
  • the angle of rotation is a measure of the radial rotation of the two unbalances 56 and 64 and thus a measure of the effective total unbalanced mass or the effective static unbalanced moment m u0 ⁇ r u to m u3 ⁇ r u .
  • On the axis 65 of the gear 63c is a gear 66 which meshes with a gear 69 seated on a hollow shaft 67 .
  • the hollow shaft 67 interacts with the second unbalance 64 .
  • one of the two imbalances can also rotate at twice the rotation frequency by selecting the toothed belt pulleys 57 and 60 and / or the gear wheels 66 and 69 accordingly.
  • the “Flexspline” is an elastically deformable, thin-walled steel sleeve with external teeth, which has a smaller pitch diameter than the "Circular Spline” and thus has, for example, two teeth less over the entire circumference.
  • the “Wave Generator” is an elliptical disc with a mounted thin ring ball bearing that is inserted into the "Flexspine” and deforms it elliptically. During the rotation of the "Wave Generator” the meshing area with the large ellipse axis moves. After rotating the "Wave Generator” by 180 ° there is a relative movement between “Flexspline” and “Circular Spline” around a tooth. After each complete rotation of the "Wave Generator", the “Flexspline” as the output element rotates exactly two teeth opposite to the drive. The mechanical structure using this gear is extremely compact.
  • paving material is to be compacted on a construction site, it is advisable to determine or check the stiffness c B of the subsurface by means of a crossing before introducing the compaction material.
  • the soil elasticity module E can also be determined. If there is already a weak point in the subsurface, the installation goods cannot be compacted to the required extent.
  • vertically vibrating unbalances designed as piston-cylinder units, can also be used.
  • bandages can be rolled over the base 20 ; however, a vibrating plate can also be moved over the floor 20 .
  • the measuring device according to the invention differs of the soil compaction device according to the invention only in that the acting on the floor and with together towards him a device forming a vibration system the compacting device of the soil compacting device does not cause significant soil compaction. I.e. the force acting on the ground is measured reduced. The measurement is also usually carried out Mass of the oscillating force chosen smaller.
  • the invention Measuring device can with known compression device can be assembled to work well with these machines to produce an improved soil compaction.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)
  • Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)

Abstract

Method and apparatus for compacting soil and for determining a mechanical characteristic of soil, including a method and apparatus for periodically compacting soil with a soil compacting device so as to make the soil and the soil compacting device vibrate together as a single oscillatory system, analyzing the vibration of the soil and soil compacting device, and adjusting an oscillatory driving force so as to drive the single oscillatory system towards a characteristic resonance frequency OMEGA.

Description

Die Erfindung betrifft ein Verfahren zur Messung mechanischer Daten eines verdichteten oder zu verdichtenden Bodens, ein Verdichtungsverfahren zum Erreichen einer optimalen, insbesondere homogenen Bodenverdichtung, eine Meßvorrichtung zur Messung mechanischer Daten eines verdichteten oder zu verdichtenden Bodens sowie eine Bodenverdichtungsvorrichtung zur optimalen homogenen Bodenverdichtung.The invention relates to a method for measuring mechanical Data of a compacted or compacted soil, a compression process to achieve an optimal, in particular homogeneous soil compaction, a measuring device for measuring mechanical data of a compressed or soil to be compacted and a soil compaction device for optimal homogeneous soil compaction.

Aus der WO 95/10664 ist ein Verfahren zur Bodenverdichtung bekannt. Bei dem bekannten Verfahren wird die Frequenz einer rotierenden Unwucht derart eingestellt, daß die mit dem zu verdichtenden Boden sich im Kontakt befindende Verdichtungseinheit einen vorgegebenen Wert an Oberschwingungen - hier die doppelte Grundschwingung - nicht überschreitet. Die Unterschreitung dieses vorgegebenen Werts wird als Stabilitätskriterium betrachtet. Unter Verwendung zweier senkrecht zueinander angeordneter Beschleunigungsaufnehmer an der Verdichtungseinheit wird deren Beschleunigung gemessen. Einer der Beschleunigungsmesser mißt die horizontale und der andere die vertikale Beschleunigungskomponente. Es wird die Schwingungsamplitude der Verdichtungseinrichtung sowie die Richtung der maximalen Verdichtungsamplitude bestimmt. Die Frequenz des Exzenters und dessen Gewicht sowie die Rollgeschwindigkeit sind computergestützt einstellbar. Sie werden jedoch derart eingestellt, daß eine Maschinenresonanz und eine Resonanz des Gestells vermieden werden. Die Frequenz- und Gewichtseinstellung des Exzenters erfolgt ohne Berücksichtigung des zu verdichtenden Bodens. Aus den gemessenen Beschleunigungswerten wird der Schermodul des verdichteten Bodens und dessen plastischer Parameter bestimmt.WO 95/10664 describes a method for soil compaction known. In the known method, the frequency a rotating unbalance adjusted so that with the compaction unit in contact with the soil to be compacted a predetermined value of harmonics - here the double fundamental - does not exceed. Falling below this predetermined value is called the stability criterion considered. Using two vertically accelerometers arranged to each other the acceleration of the compression unit is measured. One of the accelerometers measures the horizontal and the one others the vertical acceleration component. It will be the Vibration amplitude of the compression device and the Direction of the maximum compression amplitude determined. The Frequency of the eccentric and its weight as well as the rolling speed can be adjusted with computer assistance. you will be however set such that machine resonance and a resonance of the frame can be avoided. The frequency and weight setting of the eccentric is not taken into account of the soil to be compacted. From the measured Acceleration values are the shear modulus of the compressed Soil and its plastic parameters determined.

Aus der EP-A 0 459 062 ist ein weiteres Bodenverdichtungsverfahren bekannt. Bei dem bekannten Verdichtungsverfahren wird das Augenmerk darauf gerichtet, daß die Maschinenparameter derart eingestellt werden, daß vorgegebene Kräfte gegen den zu verdichtenden Boden erreicht werden.Another soil compaction method is known from EP-A 0 459 062 known. In the known compression process attention is paid to the fact that the machine parameters be set so that predetermined Forces can be achieved against the soil to be compacted.

Aufgabe der Erfindung ist es, ein Meß- bzw. Bodenverdichtungsverfahren aufzuzeigen und eine Meß- bzw. Bodenverdichtungsvorrichtung zu schaffen, mit dem bzw. mit der eine homogene Bodenverdichtung in einem Verdichtungverfahren mit möglichst wenig Überfahrten, insbesondere unter Vorgabe einer gewünschten Bodensteifigkeit und/oder insbesondere eines gewünschten Elastizitätsmoduls erreichbar ist sowie mechanische Daten des zu verdichtenden bzw. verdichteten Bodens bestimmbar sind.The object of the invention is a measuring or soil compaction method show and a measuring or soil compaction device to create with the one homogeneous soil compaction in a compaction process as few crossings as possible, especially if one is specified desired floor stiffness and / or in particular one desired elastic modulus is achievable as well as mechanical Data of the soil to be compacted or compacted can be determined are.

Die Aufgabe wird dadurch gelöst, daß im Gegensatz zur oben zitierten WO 95/10664 nicht auf die örtliche Phasenlage einer maximalen Schwingungsamplitude einer Verdichtungs- bzw. Meßvorrichtung abgestellt wird, sondern auf die zeitliche Phase der anregenden Schwingung des bzw. der Exzenter zur Phase der angeregten Schwingung des Bodenverdichtungs- bzw. Meßsystems, welche identisch mit derjenigen der Verdichtungs- bzw. Meßeinrichtung ist. Auch wird im Gegensatz zur WO 95/10664 im Resonanzbereich eines Schwingungssystems, gebildet aus der auf den zu verdichtenden (bzw. bereits verdichteten) Boden einwirkenden Verdichtungs- bzw. Meßeinrichtung und dem Boden, gearbeitet. Die bekannte Bodenverdichtungsvorrichtung der EP-A 0 459 062 arbeitet zwar im Resonanzbereich ihrer Verdichtungseinrichtung, es ist ihr aber nicht möglich, die durch die Verdichtung erreichte Bodensteifigkeit cB zu ermitteln und den gesamten Verdichtungsvorgang aufgrund dieser ermittelten Werte zu optimieren.The object is achieved in that, in contrast to WO 95/10664 cited above, the focus is not on the local phase position of a maximum oscillation amplitude of a compression or measuring device, but on the temporal phase of the exciting oscillation of the eccentric (s) to the phase of the excited Vibration of the soil compaction or measuring system, which is identical to that of the compaction or measuring device. In contrast to WO 95/10664, work is also carried out in the resonance region of an oscillation system, formed from the compression or measuring device acting on the soil to be compacted (or already compacted) and the soil. The known soil compaction device of EP-A 0 459 062 operates in the resonance range of its compaction device, but it is not possible for it to determine the soil rigidity c B achieved by the compaction and to optimize the entire compaction process on the basis of these determined values.

Zur Erläuterung der Erfindung wird in den nachfolgenden Figuren eine erfindungsgemäße Bodenverdichtungsvorrichtung beschrieben. Die Bodenverdichtungsvorrichtung beinhaltet eine erfindungsgemäße Meßvorrichtung zur Bestimmung der für eine Verdichtung wesentlichen mechanischen Daten. Es zeigen

Fig. 1
eine schematische Darstellung einer Doppeltandemvibrationswalze mit Knicklenkung, mit der die erfindungsgemäße Bodenverdichtung durchführbar ist,
Fig. 2
ein schwingungsmäßiges, mechanisches Ersatzschaltbild der Bodenverdichtungsvorrichtung aus Figur 1,
Fig. 3
ein signalmäßiges Blockschaltbild zur Durchführung der erfindungsgemäßen Bodenverdichtung,
Fig. 4
eine normierte Schwingungsamplitude der Bodenverdichtungseinrichtung (Ordinate) gemäß Figur 2 in Abhängigkeit einer normierten Schwingungsfrequenz der die Schwingung anregenden Unwucht (Abszisse),
Fig. 5
die Lage eines im Boden zu verdichtenden Bodenelements,
Fig. 6
eine auf das in Figur 5 gezeigte Bodenelement einwirkende Verdichtungskraft,
Fig. 7
einen Einschaltvorgang einer Bodenverdichtungseinrichtung zum Erreichen eines optimalen Betriebspunktes in einer Darstellung analog zu derjenigen in Figur 4 und
Fig. 8
eine schematische Darstellung eines Getriebes für den Antrieb zweier Unwuchten der Bodenverdichtungseinrichtung mit einstellbarem Trägheitsmoment.
To explain the invention, a soil compaction device according to the invention is described in the following figures. The soil compaction device contains a measuring device according to the invention for determining the mechanical data essential for compaction. Show it
Fig. 1
1 shows a schematic representation of a double tandem vibration roller with articulated steering, with which the soil compaction according to the invention can be carried out,
Fig. 2
2 shows a vibration-like, mechanical equivalent circuit diagram of the soil compaction device from FIG. 1 ,
Fig. 3
a signal-based block diagram for performing the soil compaction according to the invention,
Fig. 4
a normalized vibration amplitude of the soil compaction device (ordinate) according to FIG. 2 as a function of a normalized vibration frequency of the unbalance that excites the vibration (abscissa),
Fig. 5
the position of a soil element to be compacted in the soil,
Fig. 6
a compacting force acting on the bottom element shown in FIG. 5 ,
Fig. 7
a switching process of a soil compaction device to achieve an optimal operating point in a representation analogous to that in Figure 4 and
Fig. 8
is a schematic representation of a transmission for driving two imbalances of the soil compacting device with adjustable moment of inertia.

Die in Figur 1 dargestellte Doppeltandemvibrationswalze 1 mit Knicklenkung hat eine vordere und eine hintere Bandage 3a und 3b als Bodenverdichtungseinrichtung. In den nachfolgenden Betrachtungen wird jeweils nur eine der beiden Bandagen 3a bzw. 3b betrachtet, welche, sofern kein Unterschied zwischen vorderer und hinterer Bandage 3a und 3b besteht, mit der Bezugszahl 3 bezeichnet wird. Eine Kopplung zwischen den beiden Bandagen 3a und 3b bei der hier beispielsweise beschriebenen Doppeltandemvibrationswalze 1 ist für das Betriebsverhalten zu vernachlässigen.The double tandem vibration roller 1 shown in FIG . 1 with articulated steering has a front and a rear drum 3a and 3b as a soil compacting device. In the discussion below, only one of the bandages is in each case considered 3a and 3b which, if there is no difference between the front and rear drums 3a and 3b is, is referred to by the reference number. 3 A coupling between the two bandages 3a and 3b in the double tandem vibration roller 1 described here, for example, is negligible for the operating behavior.

Die Bandage 3 hat, wie schematisch in den Figuren 2 und 3 dargestellt ist, eine rotierende Unwucht 5 mit einstellbarem statischen Unwuchtmoment mu·ru. Das Unwuchtmoment wird über eine Veränderung des radialen Unwuchtabstands ru der Unwucht 5 eingestellt. Die Einstellung des Trägheitsmoments und der Frequenz f ist unten beschrieben. Zur Vereinfachung der nachfolgenden Ausführung sei die Masse mu der Unwucht punktförmig in einem Abstand ru von der Drehachse 7 der Bandage 3 rotierend angeordnet. Das statische Unwuchtmoment ist somit mu·ru [kg·m]. Vertikal über der Drehachse 7 an der Seite einer Trägerlasche 9 der Bandagenhaltegabel 10 ist ein Beschleunigungsaufnehmer 11 vorhanden. Mit dem Beschleunigungsaufnehmer 11 sind Beschleunigungswerte der Bandage 3 in vertikaler Richtung meßbar. Der Beschleunigungsaufnehmer 11 ist mit einer Recheneinheit 12 signalmäßig verbunden, welche durch zweimalige Integration die Schwingungsamplitude a der Bandage 3 ermittelt. Die Bandagenhaltegabel 10 ist über Feder- und Dämpfungselemente 13 und 14 mit dem Maschinenchassis 15 verbunden. Feder- und Dämpfungselemente 13 und 14 sind derart ausgebildet, daß im Dämpfungselement 14 die dynamischen Kräfte bedeutend kleiner sind als die statischen.The bandage 3 , as shown schematically in FIGS. 2 and 3 , has a rotating unbalance 5 with an adjustable static unbalance moment m u · r u . The unbalance moment is set by changing the radial unbalance distance ru of unbalance 5 . The setting of the moment of inertia and the frequency f is described below. In order to simplify the following embodiment, the mass m u of the unbalance is arranged in a rotating manner at a distance r u from the axis of rotation 7 of the drum 3 . The static unbalance moment is therefore m u · u [kg · m]. An acceleration sensor 11 is provided vertically above the axis of rotation 7 on the side of a carrier tab 9 of the drum holding fork 10 . With the acceleration sensors 11 acceleration values of the drum 3 in the vertical direction are measured. The acceleration sensor 11 is connected in terms of signal to a computing unit 12 , which determines the vibration amplitude a of the drum 3 by means of two integrations. The drum holding fork 10 is connected to the machine chassis 15 via spring and damping elements 13 and 14 . Spring and damping elements 13 and 14 are designed such that the dynamic forces in the damping element 14 are significantly smaller than the static ones.

Bei dem erfindungsgemäßen Verfahren zum Erreichen einer optimalen, insbesondere einer homogenen Bodenverdichtung wird die Bewegung bzw. die Beschleunigung der Bandage 3, wie oben bereits angedeutet, mit dem Beschleunigungsaufnehmer 11 gemessen. Mathematisch kann die durch die Unwucht 5 angeregte schwingende Bewegung der Bandage 3 wie folgt in der nachfolgenden Gleichung [1] dargestellt werden: xd(t) = a1/2cos[(Ω/2)t+δ1/2]+a1cos[Ωt+δ1]+a3/2cos[(3Ω/2)t+δ3/2]+ a2cos[2Ωt+δ2]+a5/2cos[(5Ω/2)t+δ5/2]+a3cos[3Ωt+δ3] In the method according to the invention for achieving an optimal, in particular a homogeneous soil compaction, the movement or the acceleration of the drum 3 , as already indicated above, is measured with the acceleration sensor 11 . Mathematically, the vibrating movement of the bandage 3 excited by the unbalance 5 can be represented as follows in the following equation [1]: x d (t) = a 1/2 cos [(Ω / 2) t + δ 1/2 ] + a 1 cos [Ωt + δ 1 ] + a 3/2 cos [(3Ω / 2) t + δ 3/2 ] + a 2nd cos [2Ωt + δ 2nd ] + a 5/2 cos [(5Ω / 2) t + δ 5/2 ] + a 3rd cos [3Ωt + δ 3rd ]

In dieser Formel gibt der Index 1 eine Zuordnung zu Werten an, welche dieselbe Kreisfrequenz Ω (Ω = 2πf, wobei f die Frequenz der Unwucht 5 ist) aufweisen, wie die anregende Schwingung der Unwucht 5. 1/2 bezieht sich auf die halbe Kreisfrequenz Ω, 3/2 auf die anderthalbfache und 5/2 auf die zweieinhalbfache Kreisfrequenz Ω. a ist der maximale Amplitudenwert der betreffenden Teilschwingung. δ bezeichnet die phasenmäßigen Zuordnungen der Teilschwingungen zueinander.In this formula, index 1 specifies an assignment to values which have the same angular frequency Ω (Ω = 2πf, where f is the frequency of unbalance 5 ) as the exciting oscillation of unbalance 5 . 1/2 refers to half the angular frequency Ω, 3/2 to one and a half times and 5/2 to two and a half times the angular frequency Ω. a is the maximum amplitude value of the partial vibration in question. δ denotes the phase assignments of the partial vibrations to each other.

Aus dem Beschleunigungssignal können in der Recheneinheit 12 mittels einer Fourieranalyse gemäß obiger Gleichung die Frequenzanteile ermittelt werden. Je nach gefordertem Verdichtungsvorgang wird nun das statische Unwuchtmoment der Unwucht 5 und deren Frequenz f unterschiedlich eingestellt:

  • a) Verbleibt die Bandage 3 immer in Bodenkontakt, so wird mittels Fourieranalyse im wesentlichen lediglich die Umlauffrequenz 1·f der Bandage ermittelt. Diesen Verdichtungsvorgang nennt man Auflastbetrieb.
  • b) Hebt die Bandage 3 periodisch von Boden ab, was gegenüber a) eine stärkere Verdichtung ergibt, so werden mit der Fourieranalyse Oberschwingungen festgestellt, also Kreisfrequenzen von 2Ω, 3Ω, ... mit stark abnehmender maximaler Amplitude. Das Abheben der Bandage 3 vom Boden kennzeichnet einen optimalen Betriebszustand, da hier die auf den Boden übertragenen Kräfte größer sind als im Fall a), wodurch eine stärkere Verdichtung erfolgt.
  • c) Fängt die Maschine d.h. die ganze Walze 1 zu springen an, d.h. das Maschinenchassis 15 fängt an, Schwingungen um seine Ruhelage herum auszuführen, dann treten zu den Oberwellen auch Schwingungen mit der halben Anregungskreisfrequenz Ω der Unwucht 5 auf, also zusätzlich (1/2)Ω, (3/2)Ω, (5/2)Ω, ... Dieser Zustand ist instabil und kann zudem den Untergrund wieder auflockern. Ferner kann hier das Maschinenchassis 15 anfangen, um seine Längsachse zu schwingen.
    • The frequency components can be determined in the computing unit 12 from the acceleration signal by means of a Fourier analysis according to the above equation. Depending on the required compression process, the static unbalance moment of unbalance 5 and its frequency f are set differently:
  • a) If the bandage 3 always remains in contact with the ground, essentially only the rotational frequency 1 · f of the bandage is determined by means of Fourier analysis. This compression process is called load operation.
  • b) If the drum 3 lifts periodically from the ground, which results in a stronger compaction compared to a), Fourier analysis detects harmonics, i.e. angular frequencies of 2Ω, 3Ω, ... with a strongly decreasing maximum amplitude. The lifting of the bandage 3 from the ground indicates an optimal operating state, since here the forces transmitted to the ground are greater than in case a), as a result of which greater compaction takes place.
  • c) If the machine begins to jump, that is to say the entire roller 1 , ie the machine chassis 15 begins to oscillate around its rest position, then vibrations with half the excitation angular frequency Ω of the unbalance 5 also occur in addition to the harmonics (1 / 2) Ω, (3/2) Ω, (5/2) Ω, ... This state is unstable and can also loosen up the subsoil. Furthermore, the machine chassis 15 can start here to swing about its longitudinal axis.

    • Gemäß dem mechanischen Ersatzschaltbild der Figur 2 wird der zu verdichtende Boden 20 als eine Feder 17 und ein Dämpfungselement 19 dargestellt. D.h. ein Bodenverdichtungssystem, welches die Bandage 3 mit schwingungsanregender Unwucht 5, das Federelement 17 und das Dämpfungselement 19 des zu verdichtenden Bodens 20 sowie das Federelement 13 und das Dämpfungselement 14 zwischen Bandage 3 und Maschinenchassis 15 enthält, weist eine Eigenschwingung auf. Daß dem so ist, ergibt sich aus den in Figur 4 gezeigten Meßkurven. Auf der Abszisse ist die Schwingungskreisfrequenz Ω der Bandage 3 und auf der Ordinate die gemessene maximale Schwingungsamplitude a aufgetragen. Die Schwingungskreisfrequenz Ω ist jedoch auf die Eigenfrequenz w0 des Bodenverdichtungssystems und der Wert a auf einen Wert a0 normiert. Kurvenparameter ist das statische Unwuchtmoment [Produkt aus einer punktförmig angeordnet gedachten Unwuchtmasse mu und dem radialen Abstand ru von der Achse 7]. Das Unwuchtmoment der Kurve 21a ist kleiner als das der Kurve 21b, usw. Oberhalb der Kurve 23 beginnt die Walze 1 zu springen [Fall c]. Die Kurve 23 darf deshalb im Verdichtungsbetrieb nicht überschritten werden. Die Schar der Resonanzkurven 21a bis 21d stellt eine wesentliche Identifikationsgröße des Betriebsverhaltens des Bodenverdichtungssystems dar. Aus ihr lassen sich, wie unten ausgeführt wird, die verschiedenen Einflüsse der Maschinenparameter und der grundsätzliche Verlauf des Verdichtungsprozesses ablesen. Eine Verdichtung ist jeweils bei Resonanz des Bodenverdichtungssystems, gebildet aus der auf den zu verdichtenden Boden 20 einwirkenden Verdichtungseinrichtung und dem zu verdichtenden Boden 20, optimal, d.h. am schnellsten und unter geringstem Energieaufwand vollziehbar.According to the mechanical equivalent circuit diagram in FIG. 2 , the soil 20 to be compacted is represented as a spring 17 and a damping element 19 . Ie a soil compaction system, which contains the bandage 3 with vibration-stimulating imbalance 5 , the spring element 17 and the damping element 19 of the soil 20 to be compacted, and the spring element 13 and the damping element 14 between the bandage 3 and the machine chassis 15 , has a natural vibration. That this is so, it follows from the measurement curves shown in Figure 4. The oscillation angular frequency Ω of the bandage 3 is plotted on the abscissa and the measured maximum oscillation amplitude a is plotted on the ordinate. However, the oscillation circuit frequency Ω is normalized to the natural frequency w 0 of the soil compaction system and the value a to a value a 0 . The curve parameter is the static unbalance moment [product of an unbalanced mass m u and the radial distance r u from the axis 7 ]. The unbalance moment of curve 21a is smaller than that of curve 21b , etc. Above curve 23 , roller 1 begins to jump [case c]. Curve 23 must therefore not be exceeded in compression mode. The family of resonance curves 21a to 21d represents an essential identification variable of the operating behavior of the soil compaction system. As explained below, the various influences of the machine parameters and the basic course of the compaction process can be read from it. Compaction is optimal when the soil compaction system, formed from the compaction device acting on the soil 20 to be compacted and the soil 20 to be compacted, resonates, that is to say it can be carried out fastest and with the least energy expenditure.

    Die Eigenfrequenz w0 des Bodenverdichtungssystems ist die Quadratwurzel aus den Quotienten der Bodensteifigkeit cB [MN/m] und dem Gewicht md [kg] der Bandage 5: w0 = (cB/md)1/2 The natural frequency w 0 of the soil compaction system is the square root of the quotient of the soil stiffness c B [MN / m] and the weight m d [kg] of the drum 5 : w 0 = (c B / m d ) 1/2

    In obiger Gleichung sind dem Gewicht der Bandage 5 Anteile der jeweilgen Radabstützung sowie rechnerische "Bodenteile" hinzuzufügen. Diese Zusatzanteile liegen jedoch lediglich bei maximal 10% des reinen Bandagengewichts. Sie werden bevorzugt experimentell bestimmt und können in erster Näherung vernachlässigt werden. Die Bodensteifigkeit cB liegt in der Regel zwischen 20 MN/m und 130 MN/m. Sie wird erfindungsgemäß, wie unten beschrieben, ermittelt. Die Eigenfrequenz w0 wird am einfachsten durch Überfahren des Bodens 20 mit einem kleinen statischen Unwuchtmoment gemäß Kurve 21a gemessen. Die Frequenz der Unwucht 5 beim maximalen Kurvenwert 25 von a/a0 gibt die Eigenfrequenz w0 an. Der normierte Amplitudenwert von a/ao = 1 ist dort, wo die die Maximalwerte der Kurven 21a bis 21d verbindende Kurve 27 beginnt nach links abzuknicken. Der Amplitudenwert a0 ergibt sich näherungsweise aus der Formel a0 = (mf+md)g/cB    unter der Voraussetzung, daß die Bandage 3 nicht abhebt (Fall b), was hier jedoch gegeben ist. mf ist die Auflast des Maschinenchassis 15 pro Bandage 3. g ist die Erdbeschleunigung mit g ≈ 10.In the above equation, 5 parts of the respective wheel support and arithmetical "floor parts" are to be added to the weight of the bandage. However, these additional proportions are only a maximum of 10% of the pure bandage weight. They are preferably determined experimentally and can be neglected as a first approximation. The ground stiffness c B is usually between 20 MN / m and 130 MN / m. It is determined according to the invention as described below. The natural frequency w 0 is most easily measured by driving over the floor 20 with a small static unbalance torque according to curve 21a . The frequency of the unbalance 5 at the maximum curve value 25 of a / a 0 indicates the natural frequency w 0 . The normalized amplitude value of a / a o = 1 is where curve 27 connecting the maximum values of curves 21a to 21d begins to bend to the left. The amplitude value a 0 results approximately from the formula a 0 = (m f + m d ) g / c B provided that the bandage 3 does not lift off (case b), but this is the case here. m f is the load on the machine chassis 15 per drum 3. g is the acceleration due to gravity with g ≈ 10.

    Neben dem Beschleunigungsaufnehmer 11 ist ortsfest zur Trägerlasche 9 ein Lagesensor 29 zur zeitlichen Bestimmung der rotierenden Unwucht 5 durch ihren vertikalen Tiefstpunkt (= Verdichtungsrichtung) angeordnet. Dieser Durchgang ist identisch mit dem Zeitpunkt der maximalen gegen den Boden 20 gerichteten Unwuchtkraft. Die maximale gegen den Boden 20 wirkende Kraft wird von der Bandage 3 in den Boden 20 übertragen und erfolgt mit einer Phasenverschiebung um den Winkel . D.h. die Phasenverschiebung  gibt die Lage der anregenden Schwingung durch die Unwucht 5 zur Schwingung des Bodenverdichtungssystems wieder.In addition to the acceleration sensor 11 , a position sensor 29 for the temporal determination of the rotating unbalance 5 by its vertical low point (= compression direction) is arranged in a fixed position relative to the carrier plate 9 . This passage is identical to the time of the maximum unbalance force directed against the floor 20 . The maximum force acting against the floor 20 is transmitted from the bandage 3 into the floor 20 and takes place with a phase shift by the angle . That is, the phase shift  reflects the position of the exciting vibration due to the unbalance 5 relative to the vibration of the soil compaction system.

    Eine maximale Verdichtungskraft im Boden 20 wird bei Resonanz des Bodenverdichtungssystems erreicht. Resonanz des Bodenverdichtungssystems erfolgt immer bei maximalen Werten der Kurven 21a bis 21d, welche auf der Kurve 27 liegen. Bei Resonanz ist eine Phasenverschiebung des anregenden Schwingungssystems durch die Unwucht 5 zum Bodenverdichtungssystem von  = 90° gegeben. D.h. eine optimale Verdichtung ist mit Walzenparametern [statisches Unwuchtmoment mu·ru und Unwuchtumlaufskreisfrequenz Ω] gegeben, welche einen Betrieb auf der Kurve 27 ermöglichen. Die Resonanzkurven 21a bis 21d in Figur 4 sind nun bei konstanten Bodeneigenschaften aufgenommen. Die Bodeneigenschaften, repräsentiert ersatzweise durch das Federelement 17 und das Dämpfungselement 19 in Figur 2, können sich ändern und damit auch die Lage der Resonanzkurven 21a bis 21d. Wie aus der Darstellung in Figur 4 ersichtlich ist, ändert sich die für die Verdichtung des Bodens 20 verantwortliche Schwingungsamplitude im unterresonaten Bereich [Schwingungskreisfrequenz Ω ist kleiner als die Resonanzfrequenz, Phasenwinkel  ist kleiner als 90°] sehr stark; im überresonanten Bereich [Schwingungskreisfrequenz Ω ist größer als die Resonanzfrequenz, Phasenwinkel  ist größer als 90°] dagegen verhältnismäßig wenig. Für einen stabilen Verdichtungsbetrieb wählt man somit den überresonanten Bereich und stellt den Phasenwinkel  auf einen Bereich zwischen 95° und 110°, bevorzugt 100° ein.A maximum compaction force in the soil 20 is achieved when the soil compaction system resonates. The soil compaction system always resonates at maximum values of curves 21a to 21d , which lie on curve 27 . In the case of resonance, there is a phase shift of the exciting vibration system through the unbalance 5 to the soil compaction system of  = 90 °. That is, an optimal compaction is given with roller parameters [static unbalance moment m u · r u and unbalance rotation frequency Ω], which enable operation on curve 27 . The resonance curves 21a to 21d in FIG. 4 are now recorded with constant soil properties. The ground characteristics, represented by the spring element 17 and the damping element 19 in FIG. 2 , can change, and so can the position of the resonance curves 21a to 21d . As can be seen from the illustration in FIG. 4 , the oscillation amplitude responsible for the compaction of the soil 20 changes very strongly in the sub-resonant range [oscillation circle frequency Ω is less than the resonance frequency, phase angle  is less than 90 °]; in the over-resonant range [oscillation circuit frequency Ω is greater than the resonance frequency, phase angle  is greater than 90 °], however, relatively little. For a stable compression operation, the over-resonant range is therefore selected and the phase angle  is set to a range between 95 ° and 110 °, preferably 100 °.

    Die Einstellung des Phasenwinkels  erfolgt bei vorgegebenem statischen Unwuchtmoment mu·ru durch eine Reduktion der Umdrehungskreisfrequenz Ω der Unwucht 5. Man läuft beispielsweise auf der Resonanzkurve 21d in Richtung des Pfeiles 35. Der Bereich des Walzenspringens, gekennzeichnet durch den Bereich oberhalb der Kurve 23, muß selbstverständlich vermieden werden. Ein Eindringen in diesen Bereich wird gefühlsmäßig vom Walzenführer durch ein anderes Schwingungsverhalten seiner Walze 1 wahrgenommen. Meßtechnisch treten jedoch, wie bereits oben aufgeführt, Schwingungen mit der halben Frequenz [und ungeraden Vielfachen] der Umlaufskreisfrequenz Ω der Unwucht 5 auf. Dieser unstabile [springende] Betrieb kann aber auch dadurch festgestellt werden, daß aufeinanderfolgende Schwingungsamplituden der Bandage 3 unterschiedlich hoch sind.The phase angle  is set at a predetermined static unbalance torque m u · u by a reduction in the rotational angular frequency Ω of the unbalance 5 . For example, one runs on the resonance curve 21d in the direction of the arrow 35 . The area of roller jumping, characterized by the area above curve 23 , must of course be avoided. An intrusion into this area is perceived by the roller operator by a different vibration behavior of his roller 1 . In terms of measurement technology, however, as already mentioned above, vibrations occur with half the frequency [and odd multiples] of the orbital frequency Ω of the unbalance 5 . This unstable [jumping] operation can also be determined by the fact that successive vibration amplitudes of the bandage 3 are of different heights.

    Zum Erreichen der maximal möglichen Verdichtungsleistung muß die Verdichtungsamplitude der Bandage 3 so groß wie möglich gewählt werden. Für das Erreichen eines vorgegebenen Bodenelastizitätsmoduls E bzw. einer vorgegebenen Bodensteifigkeit cB wird von der Recheneinheit 12 und einem Stellgeber 36 selbsttätig die benötigte Amplitude eingestellt, wie unten ausgeführt wird.To achieve the maximum possible compaction performance, the compaction amplitude of the drum 3 must be chosen as large as possible. In order to achieve a predetermined soil elasticity module E or a predetermined soil stiffness c B , the required amplitude is automatically set by the computing unit 12 and an actuator 36 , as explained below.

    Auch die Verfahrgeschwindigkeit v der Walze 1 wird auf eine gleichmäßige Verdichtungsarbeit pro Wegeinheit trotz variabler Umlaufkreisfrequenz Ω der Unwucht 5 eingestellt. Der Geschwindigkeitssollwert ist von der Art der zu verdichtenden Schicht abhängig. Eine ungebundene Schicht erfordert infolge einer tiefen Umlaufkreisfrequenz Ω eine kleinere Verfahrgeschwindigkeit v als eine gebundene Schicht. Beispielsweise wird auf einer ungebundenen Schicht mit einer Verfahrgeschwindigkeit von vu = 3 km/h mit einer Umlauffrequenz fu = 30 Hz und auf einer gebundenen Schicht mit einer Verfahrgeschwindigkeit von vg = 4,5 km/h mit einer Umlauffrequenz fg = 45 Hz gefahren.The travel speed v of the roller 1 is also set to a uniform compression work per travel unit despite the variable orbital frequency Ω of the unbalance 5 . The speed setpoint depends on the type of layer to be compacted. An unbound layer requires a lower travel speed v than a bound layer due to a low orbital frequency Ω. For example, on an unbound layer with a travel speed of v u = 3 km / h with an orbital frequency f u = 30 Hz and on a bound layer with a travel speed of v g = 4.5 km / h with an orbital frequency f g = 45 Hz driven.

    Ein Bodenelement 37, wie in Figur 5 dargestellt, in einer Tiefe z0 "sieht" beim Verdichtungsvorgang eine mit einer Geschwindigkeit v vorbeifahrende zweibandagige Walze 1. Je nach Ortslage der beiden über das Bodenelement 37 hinwegrollenden Bandagen 3a und 3b sieht dieses gemäß Figur 6 eine andere Belastungsspitze 39. Die beiden Belastungsverläufe für die beiden Bandagen 3a und 3b, wobei der Pulszug 40a von der Bandage 3a und der Pulszug 40b von der Bandage 3b herrühren, können linear superponiert werden. Ihre Wirkung addiert sich. Je nach Schwingungsamplitude a des Bodenverdichtungssystems, des Achsabstands d der beiden Bandagen 3a und 3b sowie der Tiefe z0 des betrachteten Bodenelements 37 kann sich eine Überlappungszone 41 ausbilden, in welches von beiden Bandagen 3a und 3b Belastungsanteile auf das Bodenelement 37 einwirken. Der zeitliche Abstand ts der auf das Bodenelement 37 wirkenden Belastungsanteile sollte im Betrieb konstant gehalten werden, um immer dieselbe Verdichtungsgüte zu erreichen. Wie aus den untenstehenden Ausführungen hervorgeht, wird die erfindungsgemäß geregelte Walze 1 bei zunehmender Bodensteifigkeit cB mit einer höheren Umlaufkreisfrequenz Ω betrieben, was dann eine erhöhte Verfahrgeschwindigkeit v nach sich zieht. D.h. die Verdichtung geht immer schneller vonstatten.A bottom element 37 , as shown in FIG. 5 , at a depth z 0 “sees” a two-banded roller 1 passing by at a speed v during the compaction process. Depending on the location of the two bandages 3a and 3b rolling over the floor element 37 , this sees a different load peak 39 according to FIG. 6 . The two load profiles for the two bandages 3a and 3b , the pulse train 40a coming from the bandage 3a and the pulse train 40b coming from the bandage 3b , can be superposed linearly. Their effects add up. Depending on the vibration amplitude a of the soil compaction system, the center distance d of the two bandages 3a and 3b and the depth z 0 of the floor element 37 under consideration, an overlap zone 41 can form, in which load components act on the floor element 37 from both bandages 3a and 3b . The time interval t s of the load components acting on the floor element 37 should be kept constant during operation in order to always achieve the same compression quality. As can be seen from the explanations below, the roller 1 controlled according to the invention is operated with increasing ground rigidity c B with a higher orbital frequency Ω, which then results in an increased travel speed v . That means that the compression takes place faster and faster.

    Im Gegensatz zu bekannten Walzen und bekannten Verdichtungsverfahren (z.B. WO 95/10664) wird nun nicht mehr nur auf einen konstanten Schermodul, sondern auf eine vorgegebene, bevorzugt konstante Bodensteifigkeit cB sowie, falls notwendig, auf einen vorgegebenen, konstanten Elastizitätsmodul E verdichtet. Bei den bisherigen Walzen und Verdichtungsmaschinen wurde immer davon ausgegangen, wenigstens eine minimale Verdichtung, definiert durch die Bodensteifigkeit cB bzw. den Bodenelastizitätsmodul E, zu erreichen. Die aus den bekannten Verfahren resultierenden großen Unterschiede zwischen minimaler und maximaler Verdichtung führen zum bekannten, jedoch unerwünschten unregelmäßigen Absinken und Unebenwerden beispielsweise von Straßenoberflächen. Diese Unterschiede werden durch Erfindung vermieden.In contrast to known rollers and known compaction methods (for example WO 95/10664), compaction is now no longer carried out only on a constant shear modulus, but on a predefined, preferably constant ground stiffness c B and, if necessary, on a predefined, constant elastic modulus E. With the previous rollers and compaction machines, it was always assumed that at least minimal compaction, defined by the soil stiffness c B or the soil elasticity module E , would be achieved. The large differences between minimum and maximum compaction resulting from the known methods lead to the known, but undesirable irregular sinking and unevenness, for example of road surfaces. These differences are avoided by the invention.

    Im Gegensatz hierzu wird mit dem erfindungsgemäßen Verfahren u.a. auf einen konstanten Elastizitätsmodul E verdichtet. Ein konstanter Bodenelastizitätsmodul E ergibt im Gegensatz zu den bekannten, auf minimale Bodensteifigkeit verdichteten Böden eine bedeutend größere Langzeitstabilität. Wobei hier noch einmal hervorgekehrt wird, daß nicht nur auf eine vorgegebene Bodensteifigkeit cB , sondern auch auf einen vorgegebenen Bodenelastizitätsmodul E verdichtet wird. Beispielsweise wird ein auf konstanten Bodenelastizitätsmodul verdichteter Boden 20 eines Straßenbauwerks sich im Verlauf seiner Alterung durch die Verkehrsbeanspruchung gleichmäßig absenken und somit seine Ebenheit sehr viel länger behalten als ein nach dem Stand der Technik verdichteter. Nach den bekannten Verfahren verdichtete Straßenbauwerke werden im Laufe der Zeit infolge inhomogener Verdichtung uneben, reißen oberflächlich und sind dann der Zerstörung durch Verkehr und Witterungseinflüsse preisgegeben.In contrast to this, the method according to the invention compresses, inter alia, to a constant modulus of elasticity E. A constant soil elasticity module E , in contrast to the known soils compacted to minimal soil stiffness, results in significantly greater long-term stability. It is emphasized once again that not only is a predetermined soil stiffness c B , but also a predetermined soil elasticity module E is compressed. For example, a floor 20 of a road structure compacted to a constant soil elasticity module will lower uniformly as it ages as a result of the traffic load and thus retain its flatness for a much longer time than one which is compacted according to the prior art. Road structures compacted according to the known methods become uneven over time due to inhomogeneous compaction, tear on the surface and are then exposed to destruction by traffic and weather influences.

    Der Bodenelastizitätsmodul E wird erfindungsgemäß laufend mit der Walze 1 ermittelt und die Maschinenparameter laufend nachgestellt, wobei hier darauf zu achten ist, daß im Boden keine Mulden verbleiben, d.h. die Bodenoberfläche 42 bereits gut verdichtet ist. Der exakte Bodenelastizitätsmodul E interessiert in der Praxis erst beim Ende des Verdichtungsvorgangs. Zu diesem Zeitpunkt ist die Bodenoberfläche (42) jedoch bereits ausreichend verdichtet. Der Bodenelastizitätsmodul E ergibt sich aus nachstehender Formel [3]. E = cB·2(1-µ2)L·π · {1,89+½ln[π·L3·E16(1-µ2)(mf+md)·g·R ]} According to the invention, the soil elasticity module E is continuously determined with the roller 1 and the machine parameters are continuously adjusted, it being important here that no hollows remain in the soil, ie the soil surface 42 is already well compacted. In practice, the exact soil elasticity module E is only of interest at the end of the compaction process. At this point, however, the soil surface ( 42 ) is already sufficiently compacted. The soil elasticity module E results from the following formula [3]. E = c B · 2 (1 µ 2nd ) L · π · {1.89 + ½ln [ π · L 3rd · E 16 (1 µ 2nd ) (m f + m d ) · G · R ]}

    Diese Gleichung ergibt sich aus einer postitulierten kontinuumsmechanischen Betrachtung eines gekrümmten Körpers, welcher sich in Kontakt mit einem elastischen, halbunendlichen Raum befindet.This equation follows from a postulated one continuum mechanical observation of a curved body, which is in contact with an elastic, semi-infinite Room is located.

    Da der interessierende Wert des Bodenelastizitätsmoduls E auf beiden Seiten der obigen Gleichung auftritt, muß sein Wert mit einer einfachen Iteration bestimmt werden. Für einen Berechnungsbeginn wird in den rechtsseitigen Gleichungswert für E E [MN/m2] = 2,3 [1/m] · cB [MN/m] eingesetzt. Die Bodensteifigkeit cB wird mit den untenstehenden Formeln von der Recheneinheit 12 ermittelt, da ihr alle Werte bekannt sind bzw. von ihr eingestellt werden.Since the value of the soil elastic modulus E of interest occurs on both sides of the above equation, its value must be determined with a simple iteration. To start the calculation, the equation value for E E [MN / m 2nd ] = 2.3 [1 / m] · c B [MN / m] used. The ground stiffness c B is determined by the computing unit 12 using the formulas below, since all values are known to it or are set by it.

    Im Auflastbetrieb [Fall a)], d. h. es erfolgt kein Abheben der Bandage 3 (dieser Betriebszustand ist bis zu Amplituden a/a0 = 1 gegeben), wird die Bodensteifigkeit cB von der Recheneinheit 12 mit der Formel cB = Ω2· [md+ mu·ru·cos()a ] ermittelt.In load operation [case a)], ie there is no lifting of the drum 3 (this operating state is given up to amplitudes a / a 0 = 1), the ground rigidity c B is calculated by the computing unit 12 using the formula c B = Ω 2nd · [M d + m u · R u · Cos () a ] determined.

    Erfolgt ein Abheben der Bandage 3, was die Recheneinheit 12 durch das Auftreten von Kreisfrequenzen mit 2Ω, 3Ω, ... registriert, so berechnet sie die Bodensteifigkeit cB mit der Formel cB = F (bei å=0)[1-cos(π2/2K)] · a    wobei F = -md·ä+mu·ru·Ω2·cos + (mf+md)·g    und K = Fmax (mf+md)·g    å wird durch Integration des mit dem Beschleunigungsaufnehmer 11 gemessenen Werts erhalten. å ist die vertikale Geschwindigkeit der Bandage 5. Es handelt sich hier um die zeitlich sich ändernde Bandagengeschwindigkeit, welche jedoch nicht mit der Verfahrgeschwindigkeit v zu verwechseln ist. å=0, d.h. eine Geschwindigkeit Null der Bandage 5 wird immer im oberen und unteren Schwingungsumkehrpunkt erreicht. ä ist der mit dem Beschleunigungsaufnehmer 11 ermittelte Wert. Das statische Unwuchtmoment mu·ru [kg m] in der obigen Formel ist aus den Daten der Unwucht 5 bestimmbar. Die Ermittlung des Phasenwinkels  ist oben bereits beschrieben worden. md [kg] ist als Gewicht der betreffenden Bandage 3 bekannt. Ω wird als Rotationskreisfrequenz der Bandage 3 eingestellt und ist somit bekannt. Die maximale Schwingungsauslenkung a der Bandage 3 ist ebenfalls bestimmbar.If the drum 3 is lifted, which the computing unit 12 registers with the occurrence of angular frequencies with 2Ω, 3Ω, ..., it calculates the ground stiffness c B using the formula c B = F (at å = 0) [1-cos (π 2nd / 2K)] · a in which F = -m d · Ä + m u · R u · Ω 2nd · Cos + (m f + m d )·G and K = F Max (m f + m d )·G å is obtained by integrating the value measured with the accelerometer 11 . å is the vertical speed of the drum 5 . This is the bandage speed that changes over time, but this should not be confused with the travel speed v . å = 0, ie a zero speed of the drum 5 is always reached in the upper and lower vibration reversal point. ä is the value determined with the accelerometer 11 . The static unbalance moment m u · r u [kg m] in the above formula can be determined from the data of unbalance 5. The determination of the phase angle  has already been described above. m d [kg] is known as the weight of the bandage 3 in question. Ω is set as the rotational angular frequency of the drum 3 and is therefore known. The maximum vibration deflection a of the bandage 3 can also be determined.

    In Formel [3] wird die Querkontraktionszahl des Untergrunds mit µ = 0,25 (sie liegt zwischen 0,20 und 0,30) angesetzt. L [m] ist die Breite der Bandage 3, (mf+md) das auf jeder Bandage 3a bzw. 3b lastende Gewicht plus das Gewicht der betreffenden Bandage 3a bzw. 3b, R [m] ist der Radius der Bandage 3, g [= 10 m/s2] die Erdbeschleunigung und ln der natürliche Logarithmus. Es sind somit sämtliche Werte zur selbsttätigen Bestimmung der Bodensteifigkeit cB bekannt bzw. können von der Recheneinheit 12 bestimmt werden, womit auch der Elastizitätsmodul E mit der Recheneinheit 12 ermittelbar ist.In formula [3] the transverse contraction number of the substrate is set at µ = 0.25 (it lies between 0.20 and 0.30). L [m] is the width of the bandage 3 , (m f + m d ) the weight bearing on each bandage 3a or 3b plus the weight of the bandage 3a or 3b concerned , R [m] is the radius of the bandage 3 , g [= 10 m / s 2 ] the acceleration due to gravity and ln the natural logarithm. All values for the automatic determination of the soil stiffness c B are thus known or can be determined by the computing unit 12 , whereby the elasticity module E can also be determined with the computing unit 12 .

    Zur Ableitung der obigen Formel [3] geht man von der Berührung zweier elastischer Rollen aus. Die erste Rolle hat einen Elastizitätsmodul E1 , einen Radius R1 und eine Querkontraktionszahl µ 1 . Die zweite Rolle hat einen Elastizitätsmodul E2 , einen Radius R2 und eine Querkontraktionszahl µ 2 . Beide Rollen haben die Länge L. Für den Flächendruck p [N/m2] zwischen beiden Rollen ergibt sich dann p = 4·Pπ·L·b ·[1-(4·y2)/b2]1/2 wobei P die auf die erste Rolle wirkende Kraft ist, b die Breite der Berührungsfläche (L·b) ist, über die sich die beiden Rollen infolge elastischer Verformung berühren und y die laufende Koordinate senkrecht zur Rollenachse mit dem Nullpunkt auf der Rollenachse.To derive the above formula [3] one starts from the contact of two elastic rollers. The first roll has an elastic modulus E 1 , a radius R 1 and a transverse contraction number µ 1 . The second roll has an elastic modulus E 2 , a radius R 2 and a transverse contraction number µ 2 . Both rolls have the length L. The surface pressure p [N / m 2 ] between the two rollers then results p = 4 · P π · L · b · [1- (4 · y 2nd ) / b 2nd ] 1/2 where P is the force acting on the first roller, b is the width of the contact surface (L · b) over which the two rollers touch due to elastic deformation and y is the current coordinate perpendicular to the roller axis with the zero point on the roller axis.

    Zum Übergang auf eine einen Boden verdichtende Rolle (Bandage) wird der Boden als die oben beschriebene zweite Rolle angenommen, wobei dann hier der Radius R2 = ∞ gesetzt wird. Ferner ist der Elastizitätsmodul E1 der ersten Rolle bedeutend größer als derjenige E2 des Bodens. Es gilt somit E1 >> E2. For the transition to a roller compacting a soil (drum), the soil is assumed to be the second roller described above, the radius R 2 = = then being set here. Furthermore, the elastic modulus E 1 of the first roll is significantly larger than that E 2 of the floor. So it applies E 1 >> E 2nd .

    Im Verhältnis zu E2 kann somit E1 → ∞ gesetzt werden.E1 → ∞ can thus be set in relation to E 2 .

    Die auf die erste Rolle wirkende Kraft P ist bei einer Bodenverdichtungsvorrichtung eine Funktion der Zeit. Sie ist zeitlich nicht konstant. Die Kraft P ist identisch mit der Bodenreaktionskraft F in den Gleichungen [6], [7] und [8]. Die zeitliche Mittelung über die Kraft P während einer Umdrehung der Bandage 3 ergibt

    Figure 00140001
    The force P acting on the first roller is a function of time in a soil compacting device. It is not constant over time. The force P is identical to the ground reaction force F in equations [6], [7] and [8]. The time averaging over the force P during one revolution of the drum 3 results
    Figure 00140001

    Es wird somit in Gleichung [10] P = (mf+md)·g gesetzt. Gleichung [10] nach b aufgelöst ergibt dann b [m] = [(16/π) · (1-µ2 2)E2 · R1(mf+md)·gL ]1/2 µ2 und E2 sind die Querkontraktion und der Elastizitätsmodul des Bodens.It is thus set in equation [10] that P = (m f + m d ) · g. Equation [10] solved for b then gives b [m] = [(16 / π) · (1-µ 2nd 2nd ) E 2nd · R 1 (m f + m d )·G L ] 1/2 µ 2 and E 2 are the transverse contraction and the elastic modulus of the floor.

    Aufgrund des Elastizität des Bodens E2 erfolgt bei Aufbringen der Kraft P eine Annäherung des Mittelpunkts der ersten Rolle an die Bodenoberfläche. Diese Annäherung δ ergibt sich zu δ[m] = PL · 1-µ2 2 E2 · Θ(b/L) Due to the elasticity of the floor E 2 , when the force P is applied, the center of the first roller approaches the floor surface. This approximation δ results in δ [m] = P L · 1 µ 2nd 2nd E 2nd · Θ (b / L)

    Da die Breite der Auflagefläche (L·b) bedeutend kleiner ist als deren Länge L (b << L) gilt Θ(b/L) ≈ 2π · [1,89 + ln(L/b)] Since the width of the contact surface (L · b) is significantly smaller than its length L (b << L) applies Θ (b / L) ≈ 2nd π · [1.89 + ln (L / b)]

    Es gilt ferner (Federgleichung) F = cB·δ und somit cB = Fδ ≡ Pδ = L·E2 (1-µ2 2)·Θ(b/L) Hieraus folgt E2 = (1-µ2 2) L Θ(b/L)·cB The following also applies (feather equation) F = c B · Δ and thus c B = F δ ≡ P δ = L · E 2nd (1-µ 2nd 2nd ) · Θ (b / L) It follows from this E 2nd = (1-µ 2nd 2nd ) L Θ (b / L) · c B

    Es wird nun der obige Wert für b eingesetzt Θ(b/L) = 2π · [1,89 + 12 ln [π·E2·L3 16(1-µ2 2)·R1·(mf+md)·g ] The above value for b is now used Θ (b / L) = 2nd π · [1.89 + 1 2nd ln [ π · E 2nd · L 3rd 16 (1 µ 2nd 2nd ) · R 1 · (M f + m d )·G ]

    Wird Gleichung [16] in Gleichung [15] eingesetzt, ergibt sich die obengenannte Gleichung [3], wobei R1 = R ist.If equation [16] is used in equation [15], the above-mentioned equation [3] results, where R 1 = R.

    Für eine optimale Verdichtung müssen die zu verdichtenden Bodenbereiche von der Walze 1 öfters überfahren werden. Da es sich in der Regel um einen nicht vorverdichteten Boden handelt, wird in einer ersten bzw. nachfolgenden Verdichtungsüberfahrten maximal verdichtet.For optimal compaction, the soil areas to be compacted must be run over by roller 1 more often. Since it is usually a non-pre-compacted soil, maximum compaction is carried out in a first or subsequent compaction crossing.

    Das Einstellen einer optimalen Unwuchtkreisfrequenz Ω sowie eines optimalen statischen Unwuchtmoments wird anhand von Figur 7 erläutert, wobei hier analog zu Figur 4 die normierte Unwuchtkreisfrequenz Ω[Ω/w0 ] als Abszissenwert und die normierte maximale Amplitude a [a/a0 ] der Unwucht 5 als Ordinatenwert aufgetragen ist. Zum Start einer Bodenverdichtung weist die Unwucht 5 einen minimalen Abstand ru0 zur Drehachse 7 auf [statisches Unwuchtmoment mu·ru0]. Die Umlaufkreisfrequenz Ω der Unwucht 5 wird ausgehend vom Stillstand auf einen Wert Ω 0 erhöht, der oberhalb der Resonanz des oben erwähnten Bodenverdichtungssystems liegt. Die jeweilige Verfahrgeschwindigkeit v der Walze 1 wird gemäß den obengenannten Ausführungen an die Umlauffrequenz f der Unwucht 5 angepaßt. Die Abhängigkeit der Amplitude a der Bandage 3 von der Umlaufkreisfrequenz Ω erfolgt gemäß Kurve 43a. Im Punkt 45 liegt die Resonanz des Bodenverdichtungssystems. Dieser Resonanzpunkt wird aus den oben ausgeführten Toleranzgründen überschritten bis der Phasenwinkel  zwischen Bandagenschwingung und Unwuchtschwingung etwa 100° beträgt [Punkt 47]. In einem nächsten Schritt wird das statische Unwuchtmoment durch Vergrößerung des radialen Abstands ru0 auf ru1 vergrößert [mu·ru1]. Durch die Vergrößerung des statischen Unwuchtmoments bei gleicher Unwuchtumlauffrequenz f erhöht sich der Phasenwinkel  auf einen Wert größer 100°, wie sich aus dem Abstand des neuen Einstellungspunktes 50 von der Resonanzkurve 49 (analog zu Kurve 27 in Figur 4) erkennen läßt. Es wird nun in einem nächsten Schritt die Umlaufkreisfrequenz der Unwucht 5 bei konstantem statischen Unwuchtmoment [mu·ru1] von Ω 0 auf Ω1 erniedrigt bis der Phasenwinkel  wieder nur noch 100° beträgt. Radialer Abstand ru und Umlaufkreisfrequenz Ω werden nun abwechselnd geändert bis die Walze 1 zu springen beginnt. Dieses "Springen" ist gemäß obigen Ausführungen am Auftreten von ungeraden Vielfachen der halben Unwuchtumlauffrequenz erkennbar [Überschreiten der Kurve 52]. Das statische Unwuchtmoment mu·ru wird erniedrigt um den stabilen Kurvenpunkt 51 zu erreichen. Es könnte auch die Unwuchtkreisfrequenz Ω verringert werden, jedoch ist dieses Einstellungsverfahren schwer zu handhaben, da sich hierbei zwei Werte, nämlich die Kreisfrequenz Ω und das Trägheitsmoment ändern. Die zum Kurvenpunkt 51 gehörenden Maschinenparameter definieren einen Zustand, in dem maximale Verdichtungsarbeit erbracht wird. Die Kurve 53 in Figur 7 gibt die optimale Einstellkurve wieder, welche immer einen Phasenwinkel  von 100 gewährleistet.The setting of an optimal unbalance angular frequency Ω and an optimal static unbalance torque is explained with reference to FIG. 7 , the normalized unbalance angular frequency Ω [Ω / w 0 ] as the abscissa value and the normalized maximum amplitude a [ a / a 0 ] of the unbalance being analogous to FIG 5 is plotted as the ordinate value. At the start of soil compaction, the unbalance 5 has a minimal distance r u0 from the axis of rotation 7 [static unbalance moment m u · r u0 ]. Starting from standstill, the orbital frequency Ω of the unbalance 5 is increased to a value Ω 0 , which lies above the resonance of the above-mentioned soil compaction system. The respective travel speed v of the roller 1 is adapted to the rotational frequency f of the unbalance 5 in accordance with the above statements. The dependence of the amplitude a of the bandage 3 on the orbital frequency Ω takes place according to curve 43a . At point 45 is the resonance of the soil compaction system. This resonance point is exceeded for the tolerance reasons stated above until the phase angle  between the drum vibration and the unbalance vibration is approximately 100 ° [point 47]. In a next step, the static unbalance moment is increased by increasing the radial distance r u0 to r u1 [m u · r u1 ]. By increasing the static unbalance torque at the same unbalance rotation frequency f, the phase angle  increases to a value greater than 100 °, as can be seen from the distance of the new setting point 50 from the resonance curve 49 (analogously to curve 27 in FIG. 4 ). In a next step, the orbital frequency of the unbalance 5 is reduced from Ω 0 to Ω 1 with a constant static unbalance torque [m u · r u1 ] until the phase angle  is again only 100 °. Radial distance r u and orbital frequency Ω are now alternately changed until roller 1 begins to jump. According to the above statements, this “jumping” can be recognized by the occurrence of odd multiples of half the unbalance rotation frequency [crossing curve 52 ]. The static unbalance moment m u · r u is reduced in order to reach the stable curve point 51 . The unbalance angular frequency Ω could also be reduced, but this adjustment method is difficult to handle since two values change, namely the angular frequency Ω and the moment of inertia. The machine parameters belonging to curve point 51 define a state in which maximum compression work is performed. Curve 53 in FIG. 7 shows the optimal setting curve, which always ensures a phase angle  of 100.

    Nach ersten Überfahrten, solange sich der Boden noch plastisch verhält, wird mit maximaler Verdichtungsleistung gearbeitet. Das plastische Verhalten ergibt sich aus den ermittelten Meßwerten. Im "plastischen Bereich" läßt sich die Bodensteifigkeit cB nur näherungsweise ermitteln. Wohl wissend, daß bei einem noch plastischen Untergrund die Bestimmung des Bodenelastizitätsmoduls mit einem Fehler behaftet wird, wird er gemäß obigen Ausführungen berechnet. Bei Erreichen von etwa 90% des geforderten Bodenelastizitätswerts ist der plastische Bereich überschritten und die Steuerung stellt mit dem obengenannten Berechnungsverfahren das statische Unwuchtmoment mu·ru und die Unwuchtumlauffrequenz f (Unwuchtumlaufkreisfrequenz Ω) derart ein, daß ein vorgegebener Bodenelastizitätsmodul E erreicht wird. Unter Verwendung der Formeln [3] und [5] kann von der Recheneinheit 12 während des Verdichtungsvorgangs der jeweils bereits erreichte Bodenelastizitätsmodul E bestimmt, und aus diesen Werten dann für den weiteren Verdichtungsvorgang die betreffenden Maschinenparameter, als da sind statisches Unwuchtmoment mu·ru , Unwuchtfrequenz f und Verfahrgeschwindigkeit v, eingestellt werden. Die Einstellung erfolgt während des Verfahrens. Die Einstellung der Verfahrgeschwindigkeit v ist problemlos schnell durchführbar. Um jedoch das statische Unwuchtmoment mu·ru im Sekundenbruchteilbereich auf einen vorgegebenen ermittelten Wert einzustellen, wird beispielsweise, wie unten ausgeführt ist, vorgegangen.After the first passes, as long as the soil still behaves plastically, the maximum compaction performance is used. The plastic behavior results from the measured values determined. In the "plastic range", the floor stiffness c B can only be determined approximately. Knowing well that the determination of the soil elastic modulus is affected by an error on a still plastic substrate, it is calculated according to the above statements. When approximately 90% of the required soil elasticity value is reached, the plastic range is exceeded and the control uses the above-mentioned calculation method to set the static unbalance torque m u · r u and the unbalance rotation frequency f (unbalance rotation circle frequency Ω) in such a way that a predetermined soil elasticity module E is reached. Using the formulas [3] and [5], the computation unit 12 can determine the soil elasticity module E that has already been reached during the compaction process, and from these values then the machine parameters in question for the further compaction process, such as static unbalance moment m u · r u , Unbalance frequency f and travel speed v . The setting is made during the procedure. The travel speed v can be set quickly and easily. However, in order to set the static unbalance torque m u · r u to a predetermined determined value in the fraction of a second, the procedure followed, for example, is as follows.

    Anstatt, wie oben ausgeführt, den radialen Abstand ru der Unwuchtmasse zu verändern, können zwei gleichsinnig umlaufende Unwuchten 56 und 64 verwendet werden, deren gegenseitiger radialer Abstand über ein Planetengetriebe eingestellt wird. Beträgt der radiale Abstand 180°, so ist der effektive gesamte Unwuchtwert null. Bei 0° ist der Unwuchtwert maximal. Durch Winkelwerte zwischen 0° und 180° sind sämtliche Zwischenwerte zwischen keiner und maximaler Unwuchtmasse einstellbar.Instead of changing the radial distance r u of the unbalanced mass, as explained above, two unbalances 56 and 64 rotating in the same direction can be used, the mutual radial distance of which is set via a planetary gear. If the radial distance is 180 °, the effective total unbalance value is zero. At 0 ° the unbalance value is maximum. With angle values between 0 ° and 180 °, all intermediate values between zero and maximum unbalanced mass can be set.

    Das in Figur 8 schematisch dargestellte Planetengetriebe 53 dient zum Antrieb zweier gleichsinnig umlaufender Unwuchten 56 und 64, deren gegenseitige Lage zum Einstellen des statischen Unwuchtmoments mu·ru verstellbar ist. Im Gegensatz zu den obigen Ausführungen wird nun nicht mehr der radiale Abstand ru einer punktförmig gedachten Exzentermasse, sondern bei gleichem radialen Abrstand ru die effektive Unwuchtmasse mu eingestellt. Die Einstellungen gemäß Figur 7 erfolgen dann ausgehend von [Ω0, mu0·ru0] im Kurvenpunkt 47 für die nachfolgenden Kurvenpunkte mit [Ω0, mu1·ru0] statt [Ωo, mu·ru1] im Einstellpunkt 50, mit [Ω1, mu1·ru0] statt [Ω1, mu·ru1], [Ω1, mu2·ru0] statt [Ω1, mu·ru2] usw. Mit dem in Figur 8 dargestellten Planetengetriebe 53 ist eine Unwuchtmassenumstellung in Bruchteilen einer Sekunde möglich.The planetary gear 53 shown schematically in FIG. 8 serves to drive two unbalances 56 and 64 rotating in the same direction, the mutual position of which can be adjusted m u · u to set the static unbalance torque . In contrast to the above explanations, it is no longer the radial distance r u of a point-like eccentric mass that is set, but the effective unbalanced mass m u with the same radial distance r u . The settings according to FIG. 7 are then made starting from [Ω 0 , m u0 · r u0 ] in curve point 47 for the subsequent curve points with [Ω 0 , m u1 · r u0 ] instead of [Ω o , m u · r u1 ] in the set point 50, with [Ω 1 , m u1 · r u0 ] instead of [Ω 1 , m u · r u1 ], [Ω 1 , m u2 · r u0 ] instead of [Ω 1 , m u · r u2 ] etc. With the Planetary gear 53 shown in FIG. 8 enables an unbalance mass changeover in a fraction of a second.

    Das in Figur 8 gezeigte Planetengetriebe 53 wird von einem Antrieb 54 über eine Welle 55 angetrieben, welche direkt ohne jegliches Zwischengetriebe auf die eine Umwucht 56 wirkt. Auf der Welle 55 ist eine Zahnriemenscheibe 57 angeordnet, welche über einen Zahnriemen 59 auf eine Zahnriemenscheibe 60 wirkt. Die Zahnriemenscheibe 60 ihrerseits wirkt mit einem Getriebeteil 61 zusammen. Der Getriebeteil 61 hat drei miteinander kämmende Zahnräder 63a, 63b und 63c, wobei das Zahnrad 63a mit der Zahnriemenscheibe 60 drehfest verbunden ist. Die Achse des Zahnrads 63b ist radial zur Drehachse des Zahnrads 63a verdrehbar. Der Verdrehwinkel ist ein Maß für die radiale Verdrehung der beiden Unwuchten 56 und 64 und damit ein Maß für die effektive gesamte Unwuchtmasse bzw. des effektiven statischen Unwuchtmoments mu0·ru bis mu3·ru . Auf der Achse 65 des Zahnrads 63c sitzt ein Zahnrad 66, welches mit einem auf einer Hohlwelle 67 sitzenden Zahnrad 69 kämmt. Die Hohlwelle 67 wirkt mit der zweiten Unwucht 64 zusammen.The planetary gear 53 shown in FIG. 8 is driven by a drive 54 via a shaft 55 which acts directly on the balancer 56 without any intermediate gear. A toothed belt pulley 57 is arranged on the shaft 55 and acts on a toothed belt pulley 60 via a toothed belt 59 . The toothed belt pulley 60 in turn interacts with a gear part 61 . The gear part 61 has three meshing gears 63a, 63b and 63c , the gear 63a being connected to the toothed belt pulley 60 in a rotationally fixed manner. The axis of the gear 63b can be rotated radially to the axis of rotation of the gear 63a . The angle of rotation is a measure of the radial rotation of the two unbalances 56 and 64 and thus a measure of the effective total unbalanced mass or the effective static unbalanced moment m u0 · r u to m u3 · r u . On the axis 65 of the gear 63c is a gear 66 which meshes with a gear 69 seated on a hollow shaft 67 . The hollow shaft 67 interacts with the second unbalance 64 .

    Da eine der beiden Unwuchten 56 und 66 direkt angetrieben wird und nur die Unwucht 64 durch das Planetengetriebe 53, hat dieses nur die Hälfte des Drehmoments zu übertragen. Als Referenzpunkt für die Bestimmung des Phasenwinkels  gilt die Winkelhalbierende zwischen den Schwerpunkten der beiden Unwuchten 56 und 64.Since one of the two unbalances 56 and 66 is driven directly and only the unbalance 64 by the planetary gear 53 , this only has to transmit half the torque. The angle bisector between the centers of gravity of the two unbalances 56 and 64 serves as the reference point for determining the phase angle .

    Anstatt beide Unwuchten gleichsinnig mit ein- und derselben Umlauffrequenz Ω umlaufen zu lassen, kann auch eine der beiden Unwuchten durch entsprechende Auswahl der Zahnriemenscheiben 57 und 60 und/oder der Zahnräder 66 und 69 mit der doppelten Umlauffrequenz umlaufen.Instead of circulating both imbalances in the same direction with one and the same rotation frequency Ω, one of the two imbalances can also rotate at twice the rotation frequency by selecting the toothed belt pulleys 57 and 60 and / or the gear wheels 66 and 69 accordingly.

    Das oben beschriebene Getriebe, wie es in Figur 8 gezeigt ist, kann auch durch gleichwirkende, aber anders aufgebaute Überlagerungsgetriebe ersetzt werden. Gute Ergebnisse wurden beispielsweise mit einem sog. "Harmonic Drive Getriebe" erzielt, welches mit nur drei Bauteilen ["Wave Generator", "Circular Spline", "Flexspline"] hohe einstufige Untersetzungen erreicht. In diesem Getriebe ist der "Circular Spline" ein starrer Stahlring mit einer Innenverzahnung, die sich mit der Außenverzahnung des "Flexsplines" im Bereich der großen Ellipsenachse des "Wave Generators" im Eingriff befindet. Der "Flexspline" ist eine elastisch verformbare, dünnwandige Stahlbüchse mit einer Außenverzahnung, die einen kleineren Teilkreisdurchmesser als der "Circular Spline" hat und dadurch beispielsweise zwei Zähne weniger über den Gesamtumfang besitzt. Der "Wave Generator" ist eine elliptische Scheibe mit aufgezogenem Dünnringkugellager, der in den "Flexspine" eingeschoben ist und ihn elliptisch verformt. Während der Drehung des "Wave Generators" bewegt sich der Zahneingriffbereich mit der großen Ellipsenachse. Nach einer Drehung des "Wave Generators" um 180° vollzieht sich eine Relativbewegung zwischen "Flexspline" und "Circular Spline" um einen Zahn. Nach jeder vollständigen Umdrehung des "Wave Generators" dreht sich der "Flexspline" als Abtriebselement genau um zwei Zähne entgegengesetzt zum Antrieb. Der mechanische Aufbau unter Verwendung dieses Getriebes ist äußerst kompakt.The transmission described above, as shown in FIG. 8 , can also be replaced by superimposed transmissions which have the same effect but are constructed differently. Good results have been achieved, for example, with a so-called "harmonic drive gear", which achieves high single-stage reductions with only three components ["Wave Generator", "Circular Spline", "Flexspline"]. In this gearbox the "Circular Spline" is a rigid steel ring with an internal toothing which is in engagement with the external toothing of the "Flexsplines" in the area of the large ellipse axis of the "Wave Generator". The "Flexspline" is an elastically deformable, thin-walled steel sleeve with external teeth, which has a smaller pitch diameter than the "Circular Spline" and thus has, for example, two teeth less over the entire circumference. The "Wave Generator" is an elliptical disc with a mounted thin ring ball bearing that is inserted into the "Flexspine" and deforms it elliptically. During the rotation of the "Wave Generator" the meshing area with the large ellipse axis moves. After rotating the "Wave Generator" by 180 ° there is a relative movement between "Flexspline" and "Circular Spline" around a tooth. After each complete rotation of the "Wave Generator", the "Flexspline" as the output element rotates exactly two teeth opposite to the drive. The mechanical structure using this gear is extremely compact.

    Soll auf einer Baustelle Einbaumaterial verdichtet werden, so empfiehlt es sich, vor Einbringen des Verdichtungsguts die Steifigkeit cB des Untergrunds mittels einer Überfahrt zu ermitteln bzw. zu prüfen. Selbstverständlich kann auch der Bodenelastizitätmodul E ermittelt werden. Ist nämlich eine Schwachstelle im Untergrund bereits vorhanden, kann das Einbaugut nicht im geforderten Maß verdichtet werden.If paving material is to be compacted on a construction site, it is advisable to determine or check the stiffness c B of the subsurface by means of a crossing before introducing the compaction material. Of course, the soil elasticity module E can also be determined. If there is already a weak point in the subsurface, the installation goods cannot be compacted to the required extent.

    Statt umlaufende Unwuchten zu verwenden, können auch vertikal schwingende Unwuchten, ausgebildet als Kolben-Zylindereinheiten, verwendet werden. Zum Verdichten können Bandagen über den Boden 20 gerollt werden; es kann aber auch eine vibrierende Platte über den Boden 20 verschoben werden.Instead of using rotating unbalances, vertically vibrating unbalances, designed as piston-cylinder units, can also be used. For compaction, bandages can be rolled over the base 20 ; however, a vibrating plate can also be moved over the floor 20 .

    Die erfindungsgemäße Meßvorrichtung unterscheidet sich von der erfindungsgemäßen Bodenverdichtungsvorrichtung lediglich dadurch, daß die auf den Boden einwirkende und mit ihm zusammen ein Schwingungssystem bildende Einrichtung gegenüber der Verdichtungseinrichtung der Bodenverdichtungsvorrichtung keine wesentliche Bodenverdichtung hervorruft. D.h. die auf den Boden einwirkende Kraft wird bei der Messung reduziert. Auch wird in der Regel bei der Messung die Masse der schwingenden Kraft kleiner gewählt. Die erfindungsgemäße Meßvorrichtung kann mit bekannten Verdichtungsvorrichtung zusammengebaut werden, um auch mit diesen Maschinen eine verbesserte Bodenverdichtung zu erzeugen.The measuring device according to the invention differs of the soil compaction device according to the invention only in that the acting on the floor and with together towards him a device forming a vibration system the compacting device of the soil compacting device does not cause significant soil compaction. I.e. the force acting on the ground is measured reduced. The measurement is also usually carried out Mass of the oscillating force chosen smaller. The invention Measuring device can with known compression device can be assembled to work well with these machines to produce an improved soil compaction.

    Claims (14)

    1. Method for measuring the mechanical data of a soil (20), that is compacted or is to be compacted, with a device (3a, 3b) that acts upon the soil (20), and which is in conjunction with the soil (20), in terms of vibrations, read by an arithmetic unit (12) as one single oscillation system, and which is excited by an oscillation exciting force in such a manner that this oscillation system resonates, or it oscillates at a frequency (Ω) that exceeds the resonance by a preset frequency value, that is determined only on the basis of adjustment stabilities, with the value of the oscillation exciting force, its periodic frequency (Ω), and its phase angle (ø) in relation to the vibration of the oscillation system adjusted automatically by the arithmetic unit (12) in such a manner that, in consideration of the mass (md) of the device (3a. 3b) that acts upon the soil and its static weight load (mf), the soil rigidity (CB) and/or the modulus of elasticity (E) of the soil (20) are determined.
    2. Method as characterized in claim 1 wherein in order to determine the vibration amplitude (a) of the oscillation system, the movement of the device (3a, 3b) in the direction of the required measuring vector is established, in particular, with an acceleration gauge (11), the phase angle (ø) is adjusted in lead, preferably, to between 90 ° and 110°, and the oscillation exciting force is generated, preferably, by way of an accelerated, in particular, rotating mass, the static unbalance moment ( mu · ru) of which is prescribed by the arithmetic unit (12).
    3. Method for compacting in order to achieve optimal, in particular, homogenous soil compacting (1) by using a measuring method as characterized in claims 1 and 2 with a compacting device (3a, 3b) that acts upon the soil to be compacted (20), and which is in conjunction with the soil (20), in terms of vibrations, read by an arithmetic unit (12) as one single compacting oscillation system, and which is excited by an oscillation exciting force in such a manner that this compacting oscillation system resonates, or it oscillates at a frequency (Ω) that exceeds the resonance by a preset frequency value, that is determined only on the basis of adjustment stabilities, with the value of the oscillation exciting force, its periodic frequency (Ω), and its phase angle (⊘) in relation to the vibration of the compacting oscillation system adjusted automatically by the arithmetic unit (12) in such a manner that, in consideration of the mass (md) of the compacting device (3a, 3b) and its static weight load (mf), a preset soil rigidity (CB) is achieved.
    4. Method for compacting as characterized in claim 3 wherein in order to determine the vibration amplitude (a) of the compacting oscillation system the movement of the compacting device (3a, 3b) in the direction of the required compacting vector is established, in particular, with an acceleration gauge (11), the phase angle (ø) is adjusted in lead, preferably, to between 90 ° and 110°, and the oscillation exciting force is generated, preferably, by way of an accelerated, in particular, rotating mass, the static unbalance moment (mu · ru) of which is prescribed by the arithmetic unit (12).
    5. Method for compacting as characterized in claims 3 or 4 wherein the compacting process is completed as soon as a preset modulus of elasticity (E) of the soil (20) is established automatically by the arithmetic unit (12), with the modulus of elasticity (E) being determined during a run across the soil by means of an iterative calculation, in particular, by also utilizing the soil rigidity (CB), the vibration amplitude (a) of the compacting device (3a, 3b) and/or the latter's acceleration (ä).
    6. Method for compacting as characterized in one of the above claims 3 through 5 wherein non-consolidated material is compacted in a first compacting procedure, preferably, depending on the soil characteristics and the compacting conditions, at maximum compacting output, with the output only being limited by the capacity of the machinery, with the oscillation exciting force automatically adjusted in such a manner that no lift-off of the soil compacting device (1) occurs, and preferably, the lift-off point of the soil compacting device (1) is determined by means of a frequency analysis of the vibration of the compacting device (3a, 3b) in terms of the occurrence of one half of a partial oscillation component in relation to the fundamental oscillation and/or in terms of a comparison of the amplitudes of sequential oscillations of the compacting device (3a, 3b) up to a preset deviation value.
    7. Method for compacting as characterized in one of the above claims 3 through 6 wherein the compacting device (3a, 3b) is moved more rapidly across a soil (20) that has already been compacted to a preset value than across a soil (20) that has yet to be compacted, preferably with reduced oscillation exciting force, in order to minimize, from a compacting point of view, unnecessary runs.
    8. Measuring apparatus (1) for measuring mechanical data of a soil (20), that is compacted or is to be compacted, with a measuring procedure in accordance with claims 1 or 2 wherein at least one device (3a, 3b) is in contact with the soil (20) at least some of the time; with at least one oscillating mass (5) which acts upon the device and generates a periodic force in the measuring direction, the vibration frequency (Ω) of which can be adjusted with a drive (54); with a measuring element (11), in particular, an acceleration recorder (11), which determines the point in time of the maximum oscillation amplitude (ao) of the device (3a, 3b) in the measuring direction; with a sensor (29), which establishes the point in time of the maximum oscillation amplitude of the oscillating mass (5) in the direction of soil compacting; with a comparison unit (12) which determines the phase distance (ø) of the two oscillation maximum values; with a control unit (12), with which the oscillation frequency (Ω) of the oscillating mass (5) can be adjusted by means of the drive (54) until the comparison unit (12) can establish a preset phase distance, preferably a lead phase angle (ø) of the exciting mass oscillation in relation to the excited device oscillation of between 95 ° and 110°; and with an arithmetic unit (12) that is connected via signal with an adjusting unit (36) and with which, collected by the measuring element (11) and the sensor (29), the data and the mechanical data (mf, md, mu · ru) of the device (1), soil rigidity (CB) and/or a modulus of elasticity (E) of the soil (20) can be determined.
    9. Measuring apparatus (1) as characterized in claim 8 wherein the oscillating mass (5) features at least one rotating unbalance the static unbalance moment (mu · ru) of which can be adjusted by an adjusting unit (53) depending on the phase distance (ø) that is determined with the comparison unit (12).
    10. Measuring apparatus (1) as characterized in claims 8 or 9 wherein a frequency analysis device (12) analyzes the oscillation excited by the device (3a, 3b), with the vibration generated by the exciting oscillation (Ω) of the oscillating mass (5), to one-half oscillation frequency parts and multiples of the exciting vibration (Ω), and upon occurrence of these partial oscillations it increases the exciting oscillation frequency (Ω) by means of the drive (54), and/or reduces the static unbalance moment (mu · ru) of the oscillating mass (5) by means of an adjusting unit (53).
    11. Compacting apparatus (1) for optimal, homogenous soil compacting with a measuring device as characterized in one of the claims 8 through 10 in order to implement a compacting procedure as characterized in the claims 3 through 7 with at least one compacting device (3a, 3b) that is in contact with the soil (20) that is to be compacted at least some of the time; with at least one oscillating mass (5) which acts upon the device and generates in the soil compacting direction a periodic force, the vibration frequency (Ω) of which can be adjusted with a drive (54); with a measuring element (11), in particular, an acceleration recorder (11), which determines the point in time of the maximum oscillation amplitude (a0) of the compacting device (compacting surface) (3a, 3b) in the soil compacting direction; with a sensor (29), which establishes the point in time of the maximum oscillation amplitude of the oscillating mass (5) in the direction of soil compacting of the oscillating mass (5); with a comparison unit (12) which determines the phase distance (ø) of the two oscillation maximum values; with a control unit (12), with which the oscillation frequency (Ω) of the oscillating mass (5) can be adjusted by means of the drive (54) until the comparison unit (12) can establish a preset phase distance, preferably a lead phase angle (ø) of the exciting mass oscillation in relation to the excited soil compacting device oscillation of between 95° and 110° ; and with an arithmetic unit (12) that is connected via signal with an adjusting unit (36) and with which, obtained by the measuring element (11) and the sensor (29), the data and the mechanical data (mf, md, mu · ru) of the soil compacting device (1), soil rigidity (CB) of the soil that has just been compacted can be determined; and. in particular, the frequency (Ω) and the periodic force are adjustable with the adjusting unit in order to achieve a preset soil rigidity (CB).
    12. Apparatus (1) as characterized in claim 11 wherein the oscillating mass (5) has a least one rotating unbalance the static unbalance moment of which (mu · ru) is adjustable with an adjustment unit (53) depending on the phase distance (ø) established by the comparison unit (12).
    13. Apparatus (1) as characterized in claims 11 or 12 wherein a frequency analysis device (12) analyzes the oscillation excited by the compacting device (3a, 3b), with the vibration generated by the exciting oscillation (Ω) of the oscillating mass (5), to one-half oscillation frequency parts and multiples of the exciting vibration (Ω), and upon occurrence of these partial oscillations it increases the exciting oscillation frequency (Ω) by means of the drive (54), and/or reduces the static unbalance moment (mu · ru) of the oscillating mass (5) by means of an adjusting unit (53).
    14. Apparatus (1) as characterized in one of the claims 11 through 13 wherein the oscillating mass (5) consists of two rotating partial masses (56, 64) moving in the same direction, that can be driven by a planetary gearing and whose position to each other is adjustable.
    EP97943717A 1996-10-21 1997-10-21 Method of measuring mechanical data of a soil, and of compacting the soil, and measuring or soil-compaction device Expired - Lifetime EP0932726B1 (en)

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    CH255996 1996-10-21
    CH255996 1996-10-21
    PCT/CH1997/000396 WO1998017865A1 (en) 1996-10-21 1997-10-21 Method of measuring mechanical data of a soil, and of compacting the soil, and measuring or soil-compaction device

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    EP0932726B1 true EP0932726B1 (en) 2000-08-02

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    US6431790B1 (en) 2002-08-13
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    ATE195157T1 (en) 2000-08-15
    WO1998017865A1 (en) 1998-04-30

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