CN107675697B - Marine deep cement soil mixer ship dual processor single action-linkage construction control method - Google Patents
Marine deep cement soil mixer ship dual processor single action-linkage construction control method Download PDFInfo
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- CN107675697B CN107675697B CN201711041984.8A CN201711041984A CN107675697B CN 107675697 B CN107675697 B CN 107675697B CN 201711041984 A CN201711041984 A CN 201711041984A CN 107675697 B CN107675697 B CN 107675697B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
- E02D3/12—Consolidating by placing solidifying or pore-filling substances in the soil
- E02D3/126—Consolidating by placing solidifying or pore-filling substances in the soil and mixing by rotating blades
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D5/00—Bulkheads, piles, or other structural elements specially adapted to foundation engineering
- E02D5/22—Piles
- E02D5/34—Concrete or concrete-like piles cast in position ; Apparatus for making same
- E02D5/46—Concrete or concrete-like piles cast in position ; Apparatus for making same making in situ by forcing bonding agents into gravel fillings or the soil
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- General Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Agronomy & Crop Science (AREA)
- Feedback Control In General (AREA)
- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
Abstract
Marine deep cement soil mixer ship dual processor single action-linkage construction control method, comprising: step 1: whether detection linkage button is pressed, and presses then as linkage pattern, detect whether two processors are automatic mode, if so, entering step two, if it is not, entering step five.Step 2: whether all subsystems of two processors of detection have all been ready for, if not provided, system alarm, enters step three after waiting subsystem to be all ready for, if be all ready for, enter step three.Step 3: processor is switched to linkage Automatic piling mode, and No. 2 processors read the parameter setting of No. 1 processor, while the automatic control instruction of No. 2 processors follows No. 1 processor.Etc..Solve the problems, such as marine deep cement soil mixer ship dual processor single action and linkage single action-linkage Construction Control, to improve construction efficiency and construction quality.
Description
Technical field
The invention belongs to Yu Haiyang's foundation treatment engineering technical fields, and in particular to a kind of sea deep cement soil mixer ship is double
Processor single action-linkage construction control method.
Background technique
Deep Mixing Method is a kind of method for processing foundation for reinforcing foundation in saturated soft soil, utilizes cement, lime, flyash
Equal materials are as curing agent host agent, by special Mixing Machine, on the spot by weak soil and curing agent (slurry or powder in ground
Body shape) action of forced stirring, utilize a series of physical generated between curing agent and weak soil --- chemical reaction hardens into weak soil
Available ground with globality, water stability and some strength.So-called " deep layer " paddling process is relative to " shallow-layer " paddling process
For, marine deep cement soil paddling process is that it is soft at sea to reinforce seabed on the spot using special mixer ship and Mixing Machine
A kind of ocean method for processing foundation of soil, reinforcement depth are usually more than 5m, and maximum reinforcement depth is up to 60m.
Sea deep cement soil mixer ship mainly has the uniprocessor mixer ship of Japan and the multiprocessor of South Korea to stir at present
Mix ship.The uniprocessor mixer ship single of Japan can only set a mixing pile, and construction efficiency is lower；The multiprocessor of South Korea stirs It mixes ship processor individually to control, level of integrated system is poor, and can not link automatic job, can not locate in time when verticality is exceeded Reason, therefore quality control is poor, and the degree of automation is low, human cost is high。
Summary of the invention
The purpose of the present invention is to overcome the deficiency in the prior art, solves marine deep cement soil mixer ship dual processor list
Dynamic and linkage single action-linkage Construction Control problem, to improve construction efficiency and construction quality.
The present invention needs technical solution to be protected:
Dual processor single action-linkage construction control method of proposition, which is characterized in that include the following steps:
Step 1: whether detection linkage button is pressed, and presses then as linkage pattern, detects whether two processors are automatic
Mode, if so, two are entered step, if it is not, entering step five.
Step 2: whether all subsystems of two processors of detection have all been ready for, if not provided, system alarm, etc.
Three are entered step after being all ready for subsystem, if be all ready for, enters step three.
Step 3: processor is switched to linkage Automatic piling mode, and No. 2 processors read the parameter setting of No. 1 processor,
The automatic control instruction of No. 2 processors follows No. 1 processor simultaneously.Under the Automatic piling mode that links, two processors are always
ByLink synchronization control algorithmAdjusting and keep synchronous.Whether detection single action button is pressed, and enters step four if pressed,
If not provided, entering step seven.
Step 4: two processors are switched to single action automatic mode, and No. 2 processors are detached from the control of No. 1 processor, read
The parameter setting of itself, two processors respectively carry out Automatic piling after to the processing of respective parameter smoothing.Detection linkage is pressed
Whether button is pressed, if pressed, system alarm is forbidden enabling linkage pattern under single action work pattern.
Step 5: processor is switched to the manual piling mode of linkage, and No. 1 processor control device provides control and refers at this time
It enables, No. 2 processor synchronization actions.Under the manual piling mode that links, two processors are constantly subjected toLink synchronization control algorithm
Constraint, occur it is asynchronous when, system alarm, remind operator.Whether detection single action button is pressed, if pressed, enters
Step 6, if not provided, entering step seven.
Step 6: processor is switched to single action manual mode, the instruction that two processors are provided according to each self-control device
Piling manually.Whether detection linkage button is pressed, if pressed, system alarm is forbidden enabling under single action work pattern and link
Mode.
Step 7: judging whether processor linkage terminates, if so, processor linkage terminates, if it is not, return step
Two.
Further, the processorLink synchronized algorithmBy step, details are as follows:
Step 1: the synchronous detection of processor starts, and whether detection current work node is that injection starts depth, if so,
Two are entered step, if not entering step four.
Step 2: whether the difference in height of two processors of detection is less than the setting threshold value of synchronous error, if so, thinking two
Platform processor is located at sustained height, return step one, if it is not, entering step three.
Step 3: whether processor is automatic mode at this time for detection, if so, by a lower height of place in two processors
The pause of reason machine is reruned after difference in height is less than the setting threshold value of synchronous error, and if it is manual mode, system alarm is reminded
Operator.
Step 4: whether detection current work node is that processing terminate at an end, if it is not, return step one, if so,
Enter step five.
Step 5: whether two processors of detection all complete the processing of stake end, if so, seven are entered step, if not, into
Step 6.
Step 6: whether processor is automatic mode at this time for detection, if so, by being completed at an end in two processors
The processor of reason suspends, and reruns after another processor also completes the processing of stake end, if it is manual mode, system alarm,
Remind operator.
Step 7: judging whether linkage piling terminates, if not, return step one, if so, processor synchronized algorithm knot
Beam.
Linkage automatic job can be achieved in the present invention, timely automated can handle when verticality is exceeded, therefore quality is controlled.By In high degree of automation, human cost is substantially reduced。
Detailed description of the invention
Fig. 1 is processor linkage control flow chart of the present invention
Fig. 2 is processor of the present invention linkage synchronized algorithm flow chart
Specific embodiment
With reference to embodiments and attached drawing is described further technical solution of the present invention.
Present system feature and working method:
(1) DA SA
It is automatic with single action manually that DA SA is divided into single action, and two processor controlled distributions are independent in respective control system
Manually or automatically constructed.
(2) linkage pattern
It is automatic with linkage manually that linkage pattern is divided into linkage,Two processors are controlled by the control system of No. 1 processor simultaneously System is manually or automatically constructed.Under the manual mode that links, No. 1 each subsystem of processor: fixing pipe slush pump, stirring wing mud
After stock pump, stirring wing, the instruction of hauling winch relevant control provide, No. 2 processors execute same action, if No. 2 processors are not same
Step executes, then relevant device is not ready for or failure, system alarm, can continue to execute linkage pattern after troubleshooting.It is linking
Under automatic mode, the parameter of No. 2 processors reads the parameter setting of No. 1 processor, the automatic control instruction of same No. 2 processors
Follow No. 1 processor.
(3) processor linkage synchronized algorithm
Under processor linkage pattern, due to for guaranteeing the subsystem pile gripper system mechanics structure of processor gradient
Limitation, two processors linkage when, is either manually or automatic, all needs to synchronize as far as possible, but the setting threshold of synchronous error
Value can not be too small, and it is locked otherwise to will cause system.The depth of processor linkage two processors of synchronization control algorithm real-time detection
Angle value, once depth difference is greater than the setting threshold value of synchronous error, under the automatic mode that links, automatically by depth value lower one
Processor pause continues to run after difference is less than the setting threshold value of synchronous error；Under the manual mode that links, system alarm,
Remind operator.
(4) pattern switching
1. system default be linkage pattern, two processors press No. 1 processor control system construction parameter setting value or
The instruction construction of cabinet upper controller.
2. in the automated procedure that links, when No. 1 any subsystem of processor is switched to manual mode, then linkage is automatically switched to
Manually, the subsystem after switching reads handle or button control parameter, automatic smoothing control parameter for linkage.
3. when the subsystem that No. 1 processor is in manual mode is switched to automatic mode, then linking during linkage manually
Manual switching is that linkage is automatic, and the subsystem after switching reads the control parameter of construction management system setting, automatic smoothing data.
4. pressing single action button in linkage process, then switching to DA SA, No. 2 processor controls of No. 1 processor pair release,
No. 2 processors read own control systems construction parameter setting value or the instruction of cabinet upper controller, and smoothed by current value
It crosses to setting value, the respective independent operation of two processors.
5. in DA SA work progress, not allowing to be switched to linkage pattern.
The present invention needs 1 technical solution of the protection implement example:
By taking two processors link as an example
Referring to Fig. 1, details are as follows by step for processor linkage control algorithm:
Step 1: whether detection linkage button is pressed, and presses then as linkage pattern, detects whether two processors are automatic
Mode, if so, two are entered step, if it is not, entering step five.
Step 2: whether all subsystems of two processors of detection have all been ready for, if not provided, system alarm, etc.
Three are entered step after being all ready for subsystem, if be all ready for, enters step three.
Step 3: processor is switched to linkage Automatic piling mode, and No. 2 processors read the parameter setting of No. 1 processor,
The automatic control instruction of No. 2 processors follows No. 1 processor simultaneously.Under the Automatic piling mode that links, two processors are always
ByLink synchronization control algorithmAdjusting and keep synchronous.Whether detection single action button is pressed, and enters step four if pressed,
If not provided, entering step seven.
Step 4: two processors are switched to single action automatic mode, and No. 2 processors are detached from the control of No. 1 processor, read
The parameter setting of itself, two processors respectively carry out Automatic piling after to the processing of respective parameter smoothing.Detection linkage is pressed
Whether button is pressed, if pressed, system alarm is forbidden enabling linkage pattern under single action work pattern.
Step 5: processor is switched to the manual piling mode of linkage, and No. 1 processor control device provides control and refers at this time
It enables, No. 2 processor synchronization actions.Under the manual piling mode that links, two processors are constantly subjected toLink synchronization control algorithm
Constraint, occur it is asynchronous when, system alarm, remind operator.Whether detection single action button is pressed, if pressed, enters
Step 6, if not provided, entering step seven.
Step 6: processor is switched to single action manual mode, the instruction that two processors are provided according to each self-control device
Piling manually.Whether detection linkage button is pressed, if pressed, system alarm is forbidden enabling under single action work pattern and link
Mode.
Step 7: judging whether processor linkage terminates, if so, processor linkage terminates, if it is not, return step
Two.
Referring to Fig. 2, the processorLink synchronized algorithmBy step, details are as follows:
Step 1: the synchronous detection of processor starts, and whether detection current work node is that injection starts depth, if so,
Two are entered step, if not entering step four.
Step 2: whether the difference in height of two processors of detection is less than the setting threshold value of synchronous error, if so, thinking two
Platform processor is located at sustained height, return step one, if it is not, entering step three.
Step 3: whether processor is automatic mode at this time for detection, if so, by a lower height of place in two processors
The pause of reason machine is reruned after difference in height is less than the setting threshold value of synchronous error, and if it is manual mode, system alarm is reminded
Operator.
Step 4: whether detection current work node is that processing terminate at an end, if it is not, return step one, if so,
Enter step five.
Step 5: whether two processors of detection all complete the processing of stake end, if so, seven are entered step, if not, into
Step 6.
Step 6: whether processor is automatic mode at this time for detection, if so, by being completed at an end in two processors
The processor of reason suspends, and reruns after another processor also completes the processing of stake end, if it is manual mode, system alarm,
Remind operator.
Step 7: judging whether linkage piling terminates, if not, return step one, if so, processor synchronized algorithm knot
Beam.
Claims (1)
1. marine deep cement soil mixer ship dual processor single action-linkage construction control method, which is characterized in that including following steps
It is rapid:
Step 1: whether detection linkage button is pressed, and presses then as linkage pattern, detects whether two processors are automatic mold
Formula, if so, two are entered step, if it is not, entering step five；
Step 2: whether all subsystems of two processors of detection have all been ready for, if not provided, system alarm, waits son
System enters step three after being all ready for, if be all ready for, enters step three；
Step 3: processor is switched to linkage Automatic piling mode, and No. 2 processors read the parameter setting of No. 1 processor, simultaneously
The automatic control instruction of No. 2 processors follows No. 1 processor；Under the Automatic piling mode that links, two processors are constantly subjected to
Link synchronization control algorithm adjusting and keep synchronous；Whether detection single action button is pressed, and enters step four if pressed, if
No, seven are entered step；
Step 4: two processors are switched to single action automatic mode, and No. 2 processors are detached from the control of No. 1 processor, read itself
Parameter setting, two processors to respective parameter smoothing processing after, respectively carry out Automatic piling；Detecting linkage button is
No to press, if pressed, system alarm is forbidden enabling linkage pattern under single action work pattern；
Step 5: processor is switched to the manual piling mode of linkage, and No. 1 processor control device provides control instruction at this time, and No. 2
Processor synchronization action；Under the manual piling mode that links, two processors are constantly subjected to the constraint of linkage synchronization control algorithm,
When occurring asynchronous, system alarm reminds operator；Whether detection single action button is pressed, if pressed, enters step six,
If not provided, entering step seven；
Step 6: processor is switched to single action manual mode, and the instruction that two processors are provided according to each self-control device is manual
Piling；Whether detection linkage button is pressed, if pressed, system alarm is forbidden enabling linkage pattern under single action work pattern；
Step 7: judging whether processor linkage terminates, if so, processor linkage terminates, if it is not, return step two；
The linkage synchronized algorithm includes the following: by step
Step 1: the synchronous detection of processor starts, and whether detection current work node is that injection starts depth, if so, into
Step 2, if not entering step four；
Step 2: whether the difference in height of two processors of detection is less than the setting threshold value of synchronous error, if so, thinking at two
Reason machine is located at sustained height, return step one, if it is not, entering step three；
Step 3: whether processor is automatic mode at this time for detection, if so, by a lower height of processor in two processors
Pause is reruned after difference in height is less than the setting threshold value of synchronous error, and if it is manual mode, system alarm reminds operation
Person；
Step 4: whether detection current work node is that processing terminate at an end, if it is not, return step one, if so, into
Step 5；
Step 5: whether two processors of detection all complete the processing of stake end, if so, seven are entered step, if not, entering step
Six；
Step 6: whether processor is automatic mode at this time for detection, if so, end processing will be completed in two processors
Processor pause is reruned after another processor also completes the processing of stake end, and if it is manual mode, system alarm is reminded
Operator；
Step 7: judging whether linkage piling terminates, if not, return step one, if so, processor synchronized algorithm terminates.
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| CN201711041984.8A CN107675697B (en) | 2017-10-30 | 2017-10-30 | Marine deep cement soil mixer ship dual processor single action-linkage construction control method |
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| CN201711041984.8A CN107675697B (en) | 2017-10-30 | 2017-10-30 | Marine deep cement soil mixer ship dual processor single action-linkage construction control method |
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| CN107675697B true CN107675697B (en) | 2019-06-21 |
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| JP2005120701A (en) * | 2003-10-16 | 2005-05-12 | Soirutekku:Kk | Quality control method in deep layer mixing construction method |
| CN106320321A (en) * | 2016-08-22 | 2017-01-11 | 陈小华 | Deep cement stirring processor |
| CN106381870A (en) * | 2016-11-16 | 2017-02-08 | 中铁工程机械研究设计院有限公司 | Cement deep mixing pile frame system and pile forming method |
| CN106759251A (en) * | 2017-01-25 | 2017-05-31 | 中交天和机械设备制造有限公司 | A kind of deep-layer stirring ship processor |
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2017
- 2017-10-30 CN CN201711041984.8A patent/CN107675697B/en active Active
Patent Citations (4)
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| JP2005120701A (en) * | 2003-10-16 | 2005-05-12 | Soirutekku:Kk | Quality control method in deep layer mixing construction method |
| CN106320321A (en) * | 2016-08-22 | 2017-01-11 | 陈小华 | Deep cement stirring processor |
| CN106381870A (en) * | 2016-11-16 | 2017-02-08 | 中铁工程机械研究设计院有限公司 | Cement deep mixing pile frame system and pile forming method |
| CN106759251A (en) * | 2017-01-25 | 2017-05-31 | 中交天和机械设备制造有限公司 | A kind of deep-layer stirring ship processor |
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