Research On The Key Technologies Of Position And Posture Monitoring And Control Of Side Clamp Vibratory Pile Driver Based On Digital Twin

With the acceleration of urbanization in China,as one of the important construction equipment for pile infrastructure,the side clip hydraulic vibration pile driver has been widely used.At present,there are the following problems with the side clip hydraulic vibratory pile driver during pile sinking:(1)Manual control is the main method,and it is necessary to cooperate with the commander to complete the pile sinking and pulling work.The entire construction process is characterized by high labor intensity and low construction efficiency;(2)Using a total station to measure the verticality of a pile not only has poor accuracy but also has a low degree of automation;(3)Due to the huge equipment of the pile driver and the relatively distant distance from the pile hole,the operator has a blind area of vision,which poses certain safety hazards.In order to solve the above problems,based on digital twinning technology,this topic aims to achieve real-time monitoring and adaptive control of the pile posture of a vibratory pile driver.It designs a pile posture monitoring and control system,studies the adaptive adjustment method of the pile clamping device of the vibratory pile driver,and conducts experimental verification of the expected trajectory and actual operating trajectory of each joint oil cylinder of the working device.The main research contents are as follows:(1)Overall design of posture monitoring and autonomous control system for side clip hydraulic pile driver.Based on the structure and workflow of the pile driver,the technical requirements for the monitoring and control system of the pile driver are given,the pile driver sensor monitoring system is proposed,the virtual simulation model of the pile driver is created,the method for connecting the virtual model of the pile driver with the sensing data is determined,and the overall design of the pile driver posture monitoring and control system is carried out.(2)The software development of pile machine monitoring system based on digital twin technology.Analyze the development environment of the digital twin monitoring system,complete the framework of the monitoring system,plan the functional modules of the monitoring system,establish a pile posture early warning model and real-time data transmission methods,and finally complete the functional design and overall software development of the monitoring system.(3)Kinematic analysis of the working device of the side clip type vibration pile driver.Firstly,establish the coordinate systems of each connecting rod of the working device of the pile driver,and clarify the conversion relationship between the coordinate systems.Then,the D-H parameter method is used for kinematic modeling,and the kinematic equations are derived through coordinate transformation between the connecting rod coordinate systems to obtain the forward kinematics solution.The joint angles of the working device are solved through inverse matrix transformation,and the corresponding relationship between the joint angle and the cylinder displacement is established based on the geometric characteristics of the working device of the pile driver.Finally,the kinematic simulation analysis of the working device of the pile driver is performed.(4)Test of pile driver posture monitoring and control system.Based on a small excavator,an experimental platform for monitoring and controlling the pile posture of a pile driver is built,and a virtual monitoring and controlling software for a vibratory pile driver is developed.Monitoring experiments are conducted to adjust the verticality of the pile driver’s working device,and track tracking experiments are conducted to verify the feasibility of the monitoring and controlling system for the pile driver’s posture.