US20180127941A1 - Method for pile-driving - Google Patents

Method for pile-driving Download PDF

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Publication number
US20180127941A1
US20180127941A1 US15/566,755 US201515566755A US2018127941A1 US 20180127941 A1 US20180127941 A1 US 20180127941A1 US 201515566755 A US201515566755 A US 201515566755A US 2018127941 A1 US2018127941 A1 US 2018127941A1
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Prior art keywords
impact
pile
kinetic
energy
ratio
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US15/566,755
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English (en)
Inventor
Antti HALONEN
Jyrki HOLOPAINEN
Jaakko PAAVOLA
Markku PENTTINEN
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Junttan Oy
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Junttan Oy
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Assigned to JUNTTAN OY reassignment JUNTTAN OY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HALONEN, ANTTI, HOLOPAINEN, Jyrki, PAAVOLA, JAAKKO, PENTTINEN, MARKKI
Assigned to JUNTTAN OY reassignment JUNTTAN OY CORRECTIVE ASSIGNMENT TO CORRECT THE SPELLING OF THE FIRST NAME OF THE FOURTH INVENTOR PREVIOUSLY RECORDED ON REEL 044510 FRAME 0048. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: HALONEN, ANTTI, HOLOPAINEN, Jyrki, PAAVOLA, JAAKKO, PENTTINEN, MARKKU
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E02D7/06—Power-driven drivers
    • E02D7/08—Drop drivers with free-falling hammer
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations

Definitions

  • the present disclosure relates to a method for optimizing pile-driving.
  • the impact energy of piles to be driven into ground by a pile-driving machine is adjusted by the driver of the pile-driving machine.
  • the driver of the machine follows the driving of the pile into the ground visually and/or watches measurement results produced by measuring devices monitoring the motion of the hammer ram, for example the progress of sinking (i.e. the advance) of the pile, or the load carrying capacity determined on the basis of it, and uses this to adjust the impact energy produced by the mass, i.e. block, moving inside the hammer ram (normally by adjusting the height of lifting the block).
  • the driver tends to select an advance with which the total time taken for driving the pile into the ground would be as short as possible, wherein the total time taken for piling a given area or building can be minimized as well.
  • a drawback of the known method is the fact that using it, the pile can be driven using too much or too little impact energy (irrespective of the driver's experience).
  • Using too much impact energy has the drawback that when the impact energy produced by the block is increased, the stroke frequency is normally reduced, because the greater impact energy will require a larger travel path (i.e. height for hoisting the block).
  • the total time taken for driving the pile into the ground may be prolonged with respect to the velocity that could possibly be achieved with a slightly smaller impact energy.
  • the aim of the disclosed embodiments are achieved by the method according to the present disclosure, because for adjusting the impact energy in the method, during each driving impact on the pile, a kinetic variable Q 1 of the impact is measured by measuring devices in connection with the hammer ram during the impact, which variable is proportional to the kinetic energy of the block during the impact, and a kinetic variable Q 3 of the return motion is measured during the return motion, which variable is proportional to the kinetic energy of the block during the return motion; on the basis of the kinetic variable ratio Q 1 /Q 3 it is then possible to determine, how far the pile has advanced by the effect of each driving impact.
  • each driving impact can be made optimal so that the advance produced by it will result in a total pile driving time t tot of the pile as short as possible, wherein the driving of the pile into the ground will always be performed as fast as possible.
  • the kinetic variable ratio Q 1 /Q 3 refers to the relationship Q 1 /Q 3 between a variable Q 1 that is proportional to the kinetic energy of the block during the impact and a variable Q 3 that is proportional to the kinetic energy of the block during the corresponding return motion.
  • the kinetic variable Q 1 of the impact and the kinetic variable Q 3 of the return motion, as well as the kinetic variable ratio Q 1 /Q 3 determined by these can thus, in different applications of the present disclosure, refer to, for example, the time taken for travelling a given distance, i.e. the impact time T 1 , and the time taken for travelling the same distance during the return motion of the block, i.e.
  • the return motion time T 3 determined in a corresponding way, as well as the motion time ratio T 1 /T 3 determined by these; the impact velocity V 1 and the return motion velocity V 3 determined in a corresponding way; or the kinetic energy W 1 of the impact and the kinetic energy W 3 of the return motion, determined in a corresponding way, as well as the kinetic energy ratio W 1 /W 3 determined by these. All of these will, in principle, give a ratio that produces the corresponding information which, in the present patent application, is called the kinetic variable ratio Q 1 /Q 3 .
  • the kinetic variable ratio Q 1 /Q 3 has been found to work well in evaluating the driving of the pile into the ground, because it indicates how large a relative proportion of the kinetic energy used for the impact is returned back to the block. If the proportion is very high (the kinetic variable ratio is high), it means that a large part of the impact energy is returned to the block and the impact has not caused sinking (advancing) of the pile into the ground. On the other hand, if the proportion is low (the kinetic variable ratio is low), it means that a large part of the impact energy has been consumed in sinking, i.e. advancing, of the pile.
  • the ratio should have a given value, because on the basis of the total time taken for driving one pile into the ground, it is easy to conclude that there is a given optimal value for the ratio (kinetic variable ratio), at which impacts can be produced, to drive the pile into the ground in the shortest possible time.
  • the kinetic variable ratio Q 1 /Q 3 can also be formed by other variables proportional to the kinetic energies of the impact and the return motion (such variables could be e.g. the acceleration of the block in the direction of the impact motion and in the direction of the return motion, or the resultant of the forces effective on the block during the impact and the return motion).
  • the method according to the present disclosure has the advantage that the driving of the pile into the ground by the pile-driving machine is always performed in the fastest possible way, even if the driver of the pile-driving machine were still inexperienced. Moreover, the method according to the present disclosure reduces the risk of driving the pile using so much impact energy that the pile is damaged.
  • FIG. 1 is a principle view of a mechanism for moving the block of a pile-driving machine to be operated according to the method of the invention
  • FIG. 2 is a principle view of different phases of the motions of the block during a single driving impact
  • FIG. 3 is a principle view showing times T 1 , T 2 , and T 3 measured by position sensors S 1 and S 2 fastened to a hammer ram in the way shown in FIG. 1 .
  • FIG. 1 shows the operating principle of a mechanism 2 for moving a block 6 movable inside a hydraulically operated hammer ram 1 of a pile-driving machine. It comprises a hydraulic cylinder 3 extending in the longitudinal (vertical) direction of the hammer ram 1 , and a piston 4 movable therein. A piston rod 5 extends from the piston 4 to the block 6 underneath the cylinder.
  • the piston 4 is moved back and forth inside the hydraulic cylinder 3 by pressurized medium supplied to different sides of the piston 4 in an alternating manner, the block 6 underneath the hydraulic cylinder 3 moves a corresponding distance in the vertical direction of the hammer ram 1 .
  • This reciprocating motion is utilized in driving a pile 7 by placing the hammer ram 1 on the pile 7 in such a way that when the block 6 comes to the lower position, it hits the top end of the pile 7 .
  • a cushioning is placed between the end of the pile 7 and the block 6 , for suitably damping the impact caused by the block so that the pile will not be damaged by the impacts effective on it.
  • the travel distance of the piston 4 can be adjusted by adjusting the total quantity (volume) of pressurized medium to be supplied to its different sides during the motion.
  • the piston 4 and the block 6 fastened to it and spaced by the length of the piston rod 5 will achieve the greater velocity, the greater the travel distance (stroke) of the piston 4 and thereby the block 6 .
  • the force by which the block is accelerated, in addition to the potential energy caused by its mass will also influence the velocity achieved by the block.
  • the impact energy W kin achieved by means of the downwards moving block can be calculated by the formula
  • m H the mass of the block
  • v 1 the velocity of the block immediately before the impact.
  • a measuring rod 8 extends upwards from the piston, the motion of the rod being monitored by an upper position sensor S 1 and a lower position sensor S 2 placed above the cylinder.
  • the distance between the upper position sensor S 1 and the lower position sensor S 2 is ⁇ h, as shown in FIG. 2 .
  • the position sensors S 1 and S 2 are connected to a control unit in the pile-driving machine, arranged to use the position sensors S 1 and S 2 for measuring the time T 1 (impact time) taken by the measuring rod 8 when the end of the measuring rod 8 passes first the upper position sensor S 1 and then the lower position sensor S 2 as the piston moves downwards.
  • the time T 2 (impact delay time) is the time taken by the measuring rod 8 when it is below the lower position sensor T 2 during the impact
  • the time T 3 is the time (return motion time) taken by the measuring rod 8 when it has first passed the position sensor S 2 and then the position sensor S 1 .
  • the impact time T 1 , the impact delay time T 2 and the return motion time T 3 are shown in the principle view of FIG. 3 .
  • the distance hi is the travel distance passed by the measuring rod 8 after it has passed the lower position sensor S 2 before the block 6 hits the end of the pile 7 .
  • the hammer ram can also be implemented in such a way that no measuring rod extends from the piston above the cylinder, but the motion of the piston and/or the block is monitored by measuring arrangements implemented in another way.
  • the position sensors may be arranged to measure the position of the block directly or further the position of another point connected to the block and moving with the block and/or with the piston.
  • all the kinetic variables T 1 , V 1 and W 1 of the impact motion are proportional to the kinetic energy of the block during the impact (that is, they are kinetic variables Q 1 of the impact motion in the sense of the present application), and all the kinetic variables T 3 , V 3 and W 3 of the return motion are proportional to the kinetic energy during the return motion (that is, they are kinetic variables Q 3 of the return motion in the sense of the present application).
  • the velocity V 1 of the impact motion can be determined on the basis of the impact time T 1 by dividing the distance ⁇ h by the impact time T 1 , and the return motion velocity V 2 on the basis of the return motion time T 3 by dividing the distance ⁇ h by the return motion time T 3 .
  • the velocity of the impact motion should be measured by measuring the instantaneous velocity v 1 right before the impact and the instantaneous velocity v 3 right after the impact.
  • Another alternative is to determine the velocities v 1 and v 3 on the basis of the measured velocities V 1 and V 3 , knowing that the velocity v 1 is proportional to the velocity V 1 and the velocity v 3 is proportional to the velocity V 3 .
  • the measurement can be taken, for example, by a sensor fastened to the side of the block and measuring the velocity of the block directly or the time (T 1 and T 3 ) taken for travelling a given distance ⁇ h during the impact and the return motion. Further, the velocity or time could be measured by using e.g. an optical positioning/speed measurement method, or an ultrasonic method of measurement.
  • the pile-driving machine including the hammer ram shown in FIG. 1 comprises a programmable control unit and a hydraulic system controlled by the control unit.
  • pressurized medium e.g. hydraulic oil
  • the hydraulic system controlled by the control unit pressurized medium (e.g. hydraulic oil) can be supplied to the hydraulic cylinder in the hammer ram so that the piston 4 moving the block 6 can be moved a desired travel distance back and forth at a desired velocity within the hydraulic cylinder.
  • pressurized medium e.g. hydraulic oil
  • the downwards motion of the block 6 is called the impact motion
  • the upwards motion is called the return motion.
  • the driver of the pile-driving machine can adjust the desired travel distance and/or velocity manually, or the adjustment can be made automatically so that the control unit selects the suitable travel distance, the final velocity of the impact motion and/or the force for accelerating the block (the pressure effective in the hydraulic cylinder) automatically on the basis of the desired impact energy W kin or further by means of software programmed/stored in the control unit.
  • the position sensors S 1 and S 2 are connected to the control unit, whereby the control unit is capable of adjusting the velocity and/or travel distance of the piston on the basis of measurement data obtained from the position sensors S 1 and S 2 .
  • pressurized medium is supplied above the piston 4 during the work motion, and the pressurized medium below the piston is returned to a pressure medium tank in the system (that is, the falling of the block downwards is speeded up).
  • pressurized medium is supplied below the piston 4 and pressurized medium above the piston 4 is returned to the tank (that is, the block is lifted up).
  • the block 6 can be moved back and forth inside the hammer ram 1 in the vertical direction of the hammer ram 1 during piling so that its velocity is higher during the work motion than during the return motion.
  • the difference between the velocities is due to the fact that the change (reduction) in the potential energy caused by the mass m H of the block 6 carries out work which tends to increase the velocity of the block 6 as it moves downward, and correspondingly, the same change (increase) in the potential energy tends to slow down the motion of the block 6 as it moves upward.
  • the pile 7 is subjected to not only the impact energy but also the change in potential energy formed by the downwards motion of the block 6 placed against the pile 7 , and the pile 7 itself.
  • a part of this motion downwards is caused by elastic deformation of the pile (normally, about 1 ⁇ 3 of the mass of the pile is involved in this part of the change in potential energy), and another part by sinking (i.e. advancing) of the pile into the ground.
  • the change in the potential energy carries out work for moving the pile 7 downwards, in addition to the impact energy W kin , in the time span T 2 shown in FIG. 3 .
  • the total energy of the system formed by the pile and the block (when the pile is advancing) can be calculated by the formula:
  • W kin impact energy
  • W jou elastic energy to be bound in the pile
  • W pot ⁇ 1 change in potential energy, caused by elastic deformation of the pile
  • W pot ⁇ 2 change in potential energy, caused by advancing of the pile.
  • the elastic energy W jou to be bound in the pile 7 can be calculated by the formula:
  • the change in potential energy, caused by elastic deformation of the pile 7 can be calculated by the formula:
  • W pot ⁇ 1 ( m H +1 ⁇ 3 m P ) g ⁇ 1 (4)
  • the change in potential energy, caused by advancing of the pile 7 can be calculated by the formula:
  • part of the impact energy W kin and the potential energy W pot ⁇ 1 and W pot ⁇ 2 is always bound to the pile 7 itself in the form of elastic energy W jou to be stored in it, because the pile 7 will be elastically deformed. The rest is consumed in providing the advance ⁇ 2 of the pile 7 and in friction losses. If the impact energy W kin is too low, the total energy exerted on the pile is not capable of subjecting the pile 7 to a force that would make the pile 7 advance, because it is not capable of producing a force F sufficient to cause the pile 7 to advance, that is, a force corresponding to at least the load carrying capacity of the pile 7 at the time.
  • the aim is to drive the pile 7 to a desired depth into the ground as fast as possible.
  • the total time t tot taken for driving the pile 7 into the ground has to be determined.
  • the total time t tot taken for driving the pile 7 into the ground is equal to the sum of times t i taken for each single impact. Consequently, the total time t tot taken for driving the pile 7 can be calculated by the formula:
  • t tot the total time taken for driving the pile
  • t i the time taken for a single impact
  • n the total number of impacts.
  • the total time taken for driving the pile is equal to the number n of impacts needed, multiplied by the time taken for a single impact; that is:
  • the aim is to minimize the total time t tot taken for driving the pile.
  • the total time t tot reaches a minimum when the sum of the times taken for the single impacts is as small as possible. If the impact energy W kin is not constant, there are several alternative solutions to this, because the durations t i of the single impacts can be different with two different ways of driving the pile into the ground, even if the final result is the same total time t tot taken for driving the pile 7 .
  • a framework condition for driving the pile 7 (intact) into the ground altogether is that the impact energy W kin should exceed a value that produces a greater force effective on the pile 7 in the direction of the ground than the load carrying capacity F of the pile 7 and is, on the other hand, smaller than a value that causes such a strong tension impulse on the pile 7 that the pile will be damaged.
  • no pile will, for example, generally sustain being driven into the ground by a single impact.
  • m H /m P 1.69
  • the determining can be done experimentally and/or by calculating, knowing the ratio of the times T 1 , T 2 and T 3 to the real velocity of the block 6 and thereby to the impact energy obtained.
  • the velocities corresponding to the times T 1 and T 3 that is, the impact velocity V 1 and the return motion velocity V 3 and the velocity ratio V 1 /V 3 formed thereby, for determining the corresponding ratio.
  • the same ratio would be achieved by determining, from the impact velocity V 1 , the kinetic energy W 1 of the impact (which is thus proportional to the impact energy W kin ) and the kinetic energy W 3 of the return motion and, on the basis of these, the defined kinetic energy ratio W 1 /W 3 .
  • the aim should be to adjust the impact energy W kin so that the selected kinetic variable ratio Q 1 /Q 3 , for example the motion time ratio T 1 /T 3 , the velocity ratio V 1 /V 3 or the kinetic energy ratio W 1 /W 3 , would be as close as possible to the target value of these during the whole pile driving process.
  • the target value is the target motion time ratio T 1 /T 3 tav .
  • the impact energy W kin of the next impact is always adjusted on the basis of the actual (measured) motion time ratio T 1 /T 3 of the preceding impact. This can be done, for example, by comparing the measured motion time ratio T 1 /T 3 with the target value T 1 /T 3 tav for the motion time ratio, wherein the pile 7 can be driven into the ground as fast as possible.
  • Such an adjustment of the impact energy W kin can be implemented by means of software in the control unit of the pile-driving machine.
  • the control unit will find out the target value T 1 /T 3 tav for the motion time ratio that is the most suitable for the pile type and the soil type in question, whereby the pile driving process of said pile is implemented in an optimal way.
  • a corresponding process of optimizing the pile-driving could also be based on kinetic variable ratios Q 1 /Q 3 formed by means of other kinetic variables Q 1 of the impact and kinetic variables Q 3 of the return motion (where the kinetic variable of the impact should be proportional to the kinetic energy of the block during the impact, and the kinetic variable Q 3 of the return motion should be proportional to the kinetic energy of the block during the return motion), and their target value Q 1 /Q 3 tav , such as the velocity ratio V 1 /V 3 and its target value V 1 /V 3 tav , or the kinetic energy ratio W 1 /W 3 and its target value W 1 /W 3 tav .
  • the control unit of the pile-driving machine determines values of the motion time ratio T 1 /T 3 from the motion times T 1 and T 3 during the pile driving process, and compares them with the target value T 1 /T 3 tav . If the motion time ratio T 1 /T 3 of the preceding impact is lower than the target value T 1 /T 3 tav , the control unit will increase the impact energy, and if it is higher, the control unit will decrease the impact energy.
  • This control is automatic so that the real motion time ratio T 1 /T 3 determined on the basis of the motion times T 1 and T 3 is continuously changed towards the motion time ratio T 1 /T 3 tav that is known to result in a minimum total time t tot for driving the pile 7 .
  • the load carrying capacity of the pile 7 is changed all the time, so that the continuous control will take care that the pile 7 is driven in an optimal way even if the theoretical optimum situation were not achieved.
  • a way of operation corresponding to this could also be equally well implemented by means of other kinetic variable ratios Q 1 /Q 3 , such as the velocity ratio V 1 /V 3 or the kinetic energy ratio W 1 /W 3 .
  • the automatic control in the control unit of the pile-driving machine could be implemented in such a way that from the kinetic variable ratio Q 1 /Q 3 measured after each impact, such as from the motion time ratio T 1 /T 3 , the velocity ratio V 1 /V 3 or the kinetic energy ratio W 1 /W 3 , and their target values T 1 /T 3 tav , V 1 /V 3 tav , W 1 /W 3 tav , the deviation in the motion time ratio ⁇ T 1 /T 3 , the deviation in the velocity ratio ⁇ V 1 /V 3 , or the deviation in the kinetic energy ⁇ W 1 /W 3 is calculated by subtracting the measured value from the respective target value.
  • the control unit will then attempt to correct the impact energy so that in the next impact, the deviation from the target value would be as small as possible.
  • the most suitable target kinetic variable ratio Q 1 /Q 3 tav such as the target motion time ratio T 1 /T 3 tav , the target velocity ratio V 1 /V 3 tav , or the target kinetic energy ratio W 1 /W 3 tav can be determined for each pile as well as for each different soil type. It is also possible to use target values producing different advancing profiles. These, too, can be different for different piles and soil types.
  • the target kinetic variable ratio Q 1 /Q 3 tav such as, for example, the target motion time ratio T 1 /T 3 tav , the target velocity ratio V 1 /V 3 tav or the target kinetic energy ratio W 1 /W 3 tav can vary in different ways during the pile driving process.
  • the location of the position sensors S 1 and S 2 or other sensors used for measuring the motion of the block in relation to the location of the block moving in the hammer ram can vary in different embodiments of the method according to the invention.
  • the ratio of the times T 1 , T 2 and T 3 to the actual velocity of the block 6 can vary in different embodiments.
  • the motion time ratio T 1 /T 3 is a ratio indicating the ratio of times taken for the movement of the block in a defined distance ⁇ h during the impact and the return motion.
  • the value of the motion time ratio depends on the advance of the pile during one impact.
  • ratio As mentioned above, it should not be limited to the ratio of motion times only, because the same information (ratio) utilized in the method according to the invention can also be obtained by examining other variables proportional to the kinetic energies of the impact and the return motion, such as the ratios between the velocities or the kinetic energies of the impact and the return motion. These variables can be measured by applying a variety of measuring arrangements deviating from the above-presented example embodiment.
  • any measuring device for measuring the momentary or average velocity of the block or a measuring device for measuring another suitable variable proportional to the kinetic energy, providing measurement results which can be used for determining a ratio proportional to the kinetic energies of the impact and the return motion, and for estimating the advance provided by a single impact on the pile in relation to impacts providing the shortest possible total impact time, and, on the basis of this, for adjusting the impact energy W kin to provide an optimal pile driving process.

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US10947694B2 (en) 2019-07-04 2021-03-16 Korea Institute Of Civil Engineering And Building Technology Preloading apparatus for adjusting load and method of reinforcing foundation using the same
CN114911168A (zh) * 2022-05-26 2022-08-16 广西大学 基于强化学习的自适应工况打桩控制方法
US11638404B2 (en) * 2018-10-01 2023-05-02 Vitisat High-precision post driver machine

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CN110952602B (zh) * 2019-11-15 2021-07-30 长江岩土工程有限公司 利用护壁套管估算桩基土的极限侧阻力的方法
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US11638404B2 (en) * 2018-10-01 2023-05-02 Vitisat High-precision post driver machine
US10947694B2 (en) 2019-07-04 2021-03-16 Korea Institute Of Civil Engineering And Building Technology Preloading apparatus for adjusting load and method of reinforcing foundation using the same
CN114911168A (zh) * 2022-05-26 2022-08-16 广西大学 基于强化学习的自适应工况打桩控制方法

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CN107995934A (zh) 2018-05-04
KR20180016994A (ko) 2018-02-20
BR112017022172A2 (pt) 2018-07-03
AU2015391736A1 (en) 2017-11-02
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EP3283693B1 (en) 2019-11-06
WO2016166406A1 (en) 2016-10-20

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