KR101224195B1 - Auto grouting injection system - Google Patents

Abstract

The present invention relates to a grouting injection automation system, and more particularly, to install a servo motor in a grout pump, compare a predetermined flow rate value and a pressure value, and a flow rate value and a pressure value of the grouting liquid discharged from the grout pump, The present invention relates to a grouting injection automation system that uses a PID controller and a motor driver to finely adjust the speed of a servo motor.

Description

Grouting injection automation system {AUTO GROUTING INJECTION SYSTEM}

The present invention relates to a grouting injection automation system, and more particularly, to install a servo motor in a grout pump, compare a predetermined flow rate value and a pressure value, and a flow rate value and a pressure value of the grouting liquid discharged from the grout pump, The present invention relates to a grouting injection automation system that uses a PID controller and a motor driver to finely adjust the speed of a servo motor.

In general, grouting is made by drilling an injection hole of a predetermined depth in the ground to be grouted, inserting the grouting device into the injection hole, and using an air compressor or a hydraulic pump to expand the rubber packer to be in close contact with the inner wall of the drilling hole Next, the grout material is injected through the injection pipe passing through the inside of the grouting device and then quenched to complete the grouting material.

At this time, the grouting device should be installed so that the grout material can be injected in the correct position where the order or reinforcement is required, and the expanded packer is made to have the proper strength with the inner wall of the drilled hole so that the injected grout material does not leak out of the position requiring the reinforcement. It should be closely adhered to. However, when the packer is located in the crushing zone by incorrectly evaluating the thickness of the crushing bed layer during the ground reinforcement work using the grouting device, the grout injected through the grout pipe flows back toward the packer through the crushing ground around the packer. It was often buried.

On the other hand, since the ground improvement method by grouting has been settled by modern engineering review, there are hundreds of kinds of construction methods known to domestic and foreign. Technological development trends in this field can be divided into material development, construction method development and construction management technology development.

Among such grouting methods, Korean Patent Registration Publication No. 10-0625333 (Grouting Automatic Management System) was developed and applied.

As shown in FIGS. 1 and 2, the grouting automatic management system 300 includes a grout pump 310, an automatic valve 320, an electromagnetic pressure gauge 330, an electromagnetic flow meter 340, and a PLC controller ( 350 and a notebook computer 360.

First, the grout pump 310 pumps the injection material supplied through the respective injection pipes from the grout mixer by changing the discharge pressure in stages under the control of the notebook computer 360 which will be described below.

In addition, the automatic valve 320 is turned on / off under the control of the notebook computer 360 to be described below to adjust the flow rate of the injection material.

In addition, the electronic pressure gauge 330 checks the pressure value of the injection material supplied from the grout pump 310 through the grout mixer 301, converts the pressure value into a digital value, and outputs it.

In addition, the electromagnetic flowmeter 340 checks the flow rate value of the injection material supplied from the grout pump 310 through the grout mixer 301, converts the flow rate value into a digital value, and outputs it. Here, the electromagnetic flow meter 340 and the electronic pressure gauge 330 is installed in one box so as to be movable with the PLC controller 350 to be described later, injection to be applicable to both one-component and two-component injection method One of the pipes is installed in one of the injection pipes 311 or each of the injection pipes 311, respectively, the automatic valve 320 is installed in each injection pipe (311).

Meanwhile, the PLC controller 350 is electrically connected to the grout pump 310, the electromagnetic flow meter 340, the electromagnetic pressure gauge 330, and the automatic valve 320, so that the electronic flow meter 340 and the electronic pressure gauge 330 may be connected to each other. While displaying the flow rate value and the pressure value, the flow rate value and the pressure value and the discharge pressure value of the grout pump 310 are relayed through wired and wireless communication, and the switching signal of the automatic valve 320 transmitted from the notebook computer 360 is transmitted. Accordingly switches the automatic valve 320. Here, the PLC controller 350 has a configuration of a normal PLC panel, which includes a power supply module, a digital input / output module, an analog input module, a CPU module, a wired / wireless modem, a wired / wireless network card, and the like. The configuration omits its description and illustration.

In addition, the notebook computer 360 has a configuration of a general notebook computer, the automatic management program 370 is installed, the flow rate value transmitted from the PLC controller 350 through wired and wireless communication through the automatic management program 370 and While displaying the grouting progress in real time through the pressure value and storing the flow rate value and the pressure value, the flow rate value, pressure value and grout pump 310 of the electromagnetic flow meter 340 and the electronic pressure gauge 330 by the user If the discharge pressure of the predetermined value is compared with these values and outputs a switching signal for controlling the automatic valve 320 so that the two values are equal. Here, the automatic management program 370 includes a limit injection test unit 371, a real time injection management unit 372, a graph display unit 373, a ground injection status display unit 374, and a data storage unit 375. )

However, this conventional grouting automatic management system operates the grout pump on / off through a PLC controller, measures the flow rate and pressure discharged from the grout pump, and opens / closes the automatic valve to adjust the flow rate and pressure, and the automatic When the grouting liquid is discharged from the valve, the grouting liquid is returned through the return line.The structure is complicated, and it is difficult to follow the flow rate and pressure, and unnecessary pressure and flow rate are discharged, which causes the grout pump to maintain high rotation. Therefore, the energy efficiency is lowered, and there is a problem that noise occurs because the automatic valve is turned on / off at a high speed.

In addition, the conventional grouting automatic management system collects data on the notebook computer and directly controls the data collected from the PC program, which is difficult to control properly due to the delay time of the operating system (Window) and also causes errors or viruses in the program. Due to this, there is a problem that the malfunction of the PC, poor control occurs, even the control is impossible at all, the equipment is congested.

In addition, since the conventional grouting automatic management system is not applicable to an existing grouting system, there is a problem that a separate system must be purchased for automatic management.

Domestic Patent Registration Publication No. 10-0625333

The present invention is to solve the above problems, install a servo motor in the grout pump, compare the flow rate value and the pressure value of the grouting liquid discharged from the grout pump with a predetermined flow rate value, and the difference between these By using the PID controller and the motor driver to finely adjust the speed of the servo motor, the return line is unnecessary, so the configuration is relatively simple, and the grout pump is operated using the servo motor to increase the efficiency of the pump, thereby improving energy efficiency. It is an object of the present invention to provide a grouting injection automation system that can improve the performance.

In addition, the present invention configures the system to perform PID control using a PID controller, that is, a microprocessor, not a PC control method, and to process only command value transmission and data transmission with a computer, so that even if the computer is abnormal, direct control is performed in the microprocessor. Another purpose is to provide a grouting injection automation system that ensures safety.

In addition, the present invention can utilize the existing system 100% by making it possible to automate all processes only by attachment installation, without changing the existing grouting system, installation is also very simple to reduce the cost of purchasing automation system, It is another object to provide a grouting injection automation system that can be easily used and maintained by skilled workers.

According to an aspect of the present invention,

A grout pump that receives an injection material, which is a grouting material, and discharges the pressure through the injection pipe and the nozzle; A servo motor installed in the grout pump to control the pumping speed of the grout pump according to external control; A pressure gauge installed in one of the discharge pipes of the grout pump and outputting an analog pressure value by checking a pressure value of the injection material supplied from the grout pump; A flow meter installed in the same discharge pipe as the pressure gauge and outputting an analog flow value by checking a flow rate of the injection material supplied from the grout pump; It is electrically connected to the pressure gauge and the flow meter and receives the flow value and the pressure value of the pressure gauge and the flow meter and transmits it to the outside, PID calculation of the flow value and pressure value and the pressure control command value input from the outside of the servo motor A PID controller for determining a power output value; A motor driver electrically connected to the PID controller to control an output of the servo motor in proportion to a power output value output from the PID controller; And a computer that performs wired / wireless communication with the PID controller, transmits a pressure control command value to the PID controller, and displays and stores various information through a flow rate value and a pressure value transmitted from the PID controller. .

Here, the servo motor is a three-phase speed control motor.

The PID controller may further include an A / D converter for converting an analog signal input from the pressure gauge and the flowmeter into a digital signal; A microprocessor that PID-calculates the digital flow rate value, the digital pressure value input from the A / D converter, and the pressure control command value transmitted from the computer to determine and output the power output value of the servo motor; A communication converter performing wired and wireless communication with the computer; And an amplifier for amplifying the speed control signal output to the motor driver.

Here, the microprocessor reduces the rotational speed of the servo motor as the digital flow rate value and the digital pressure value reach the pressure control command value, and when the digital flow rate value and the digital pressure value exceed the pressure control command value, If the digital flow rate value and the digital pressure value are lower than the pressure control command value after the operation of the motor is stopped, the servo motor is operated.

According to the grouting injection automation system of the present invention configured as described above, the servo motor is installed in the grout pump, and the flow rate value and the pressure value of the grouting liquid discharged from the grout pump are compared with a predetermined flow rate value. According to the difference, the speed of the servo motor is finely adjusted by using a PID controller and a motor driver. Therefore, the return line is unnecessary and the configuration is relatively simple. The grout pump is operated using the servo motor to increase the efficiency of the pump. The efficiency can be improved.

In addition, according to the present invention, a PID controller using a microcontroller, that is, not a PC control method, is configured to perform PID control using only a microprocessor and to process only command value transmission and data transmission with a computer. It is in charge of to ensure safety.

In addition, according to the present invention, without changing the existing grouting system, it is possible to use the existing system 100% by automating all the process only by attachment installation, and the installation is also very simple to reduce the cost of purchasing the automation system, The workers are also used for everyday use, so it can be easily used and maintained.

1 and 2 are views showing the configuration of a conventional grouting automatic management system.
3 is a block diagram showing the configuration of the grouting injection automation system according to the present invention.
Figure 4 is a view showing a grouting injection program installed in a computer of the grouting injection automation system according to the present invention.
5 to 7 are graphs showing characteristics of each control method.

Hereinafter, the configuration of the grouting injection automation system according to the present invention will be described in detail with reference to the accompanying drawings.

In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intentions or customs of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification.

3 is a block diagram showing the configuration of the grouting injection automation system according to the present invention, Figure 4 is a view showing a grouting injection program installed in a computer of the grouting injection automation system according to the present invention.

3 and 4, the grouting injection automation system 1 according to the present invention includes a grout pump 10, a servo motor 20, a pressure gauge 30, a flow meter 40, and a PID controller. It consists of 50, the motor driver 60, and the computer 70. As shown in FIG.

First, the grout pump 10 receives the injection material (A liquid and B liquid), which are grouting materials, and discharges the pressure through the discharge pipe 3 and the nozzle 5, respectively. Here, the grout pump 10 is applied a dual type piston pump.

The servo motor 20 is installed in the grout pump 10 to control the pumping speed of the grout pump 10 under the control of the PID controller 50 to be described below. Here, the three-phase speed control motor is applied to the servo motor 20.

In addition, the pressure gauge 30 is installed in one of the discharge pipes 3 of the grout pump 10 (A liquid line), and checks the pressure value of the injection material (liquid A) supplied from the grout pump 10 to determine the analog pressure value. Outputs

Moreover, the flowmeter 40 is installed in the same discharge pipe as the pressure gauge 30, checks the flow value of the injection material (liquid A) supplied from the grout pump 10, and outputs an analog flow value.

The PID controller 50 is composed of an A / D converter 51, a microprocessor 53, a communication converter 55, and an amplifier 57.

The A / D converter 51 converts the analog signal input from the pressure gauge 30 and the flowmeter 40 into a digital signal, and outputs it.

The microprocessor 53 PID-calculates the digital flow rate value and the digital pressure value input from the A / D converter 51 and the pressure control command value transmitted from the computer 70 to be described below to power the servo motor 20. Determine the output value and output it. Here, the microprocessor 53 reduces the rotational speed of the servo motor 20 as the digital flow rate value and the digital pressure value reach the pressure control command value, and when the digital flow rate value and the digital pressure value exceed the pressure control command value, After the operation of the servo motor 20 is stopped, if the digital flow rate value and the digital pressure value are lower than the pressure control command value, the servo motor 20 is operated.

The communication converter 55 performs wired and wireless communication with the computer 70. Here, it is preferable that the communication converter 55 performs wired communication in the RS-232C method.

The amplifier 57 amplifies and outputs the speed control signal output from the microprocessor 53 to the motor driver 60.

The motor driver 60 controls the output of the servo motor 20 in proportion to the power output value output from the amplifier 57 of the PID controller 50.

In addition, the computer 70 communicates with the PID controller 50 through the communication converter 55, transmits a pressure control command value to the microprocessor 53 of the PID controller 50, and the PID controller 50. Various information is displayed and stored through the flow rate value and the pressure value transmitted through the communication converter 55 of the. Here, as shown in FIG. 4, the computer 70 is preferably provided with a grouting injection management program in which a user inputs a pressure control command value or inputs various control values, and stores and displays various information.

Hereinafter, the operation of the grouting injection automation system according to the present invention will be described in detail with reference to the accompanying drawings.

5 to 7 is a graph showing the characteristics of each control method, Figure 5 is a graph showing the control of the grouting injection automation system according to the present invention, Figure 6 is a graph showing the control according to the manual on / off method 7 is a graph showing the control according to the conventional grouting automatic management system (automatic on / off method).

First, when the operation is described, the user inputs the pressure control command value through the computer 70 in the state where each component is turned on, and transmits it to the PID controller 50.

Then, the microprocessor 53 of the PID controller 50 PID-calculates the digital flow rate value and the digital pressure value input from the A / D converter 51 with the transmitted pressure control command value to output the power output value of the servo motor 20. Determine and output it.

When the servo motor 20 is operated, the grout pump 10 is operated to apply pressure to the injection material (A liquid and B liquid) and discharge them through the discharge pipe 3 and the nozzle 5, respectively.

Then, the pressure gauge 30 checks the pressure value of the injection material (liquid A) and outputs an analog pressure value, and the flowmeter 40 checks the flow rate value of the injection material (liquid A) and outputs the analog flow value.

The analog pressure value and the analog flow value output from the pressure gauge 30 and the flow meter 40 are converted into digital signals by the A / D converter 51 and input to the microprocessor 53.

The microprocessor 53 then sends the flow and pressure values sent through the converter 55 to the computer 70 so that these values can be displayed and stored in the computer 70.

At the same time, the microprocessor 53 reduces the rotational speed of the servo motor 20 as the transmitted digital flow rate value and the digital pressure value reach the pressure control command value, and the digital flow rate value and the digital pressure value correspond to the pressure control command value. If it exceeds, the operation of the servo motor 20 is stopped, and if the digital flow rate value and the digital pressure value are lower than the pressure control command value, the servo motor 20 is operated.

On the other hand, such a control method can be seen through Figure 6 that the control quality is very stable, the error is also ㅁ 1 or less and the control period is also very short. The reason why PID control has low error level is that PID operation is performed on real-time input value instead of repeating output from 0% → 100% → 0% → 100% and 50% → 20% → 35% → 15% The speed can be changed in the same way, so the control method is fundamentally different from the manual or on / off method.

And, Figure 7 is a way to adjust the desired pressure value while repeating the on / off using the on / off button of the motor by the operator directly see the pressure sensor value, the time to repeat the on / off time The interval is about 4 seconds, the total running time is about 45 seconds, it can be seen that the error is about ± 2㎏ / ㎠, this error is very dependent on the characteristics of the ground. In addition, when one hour is progressed, the administrator must repeat on and off at intervals of about 4 to 5 seconds as described above, and data quality may be very bad depending on the skill level.

Currently, it is difficult to maintain the pressure in this way, so grouting injection is performed by adjusting only the injection amount regardless of the injection pressure.

Referring to FIG. 8, the conventional grouting automatic management system can confirm that the control cycle is relatively short rather than directly controlled by the administrator. (About 1 to 2 seconds)

Overall there was a slight error at the back, but the error level was less than the manual control (about ± 1.5㎏ / ㎠)

However, this automatic on / off method is very unstable because the error is greatly increased even if the ground conditions are slightly changed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

3: discharge pipe 5: nozzle
10: grout pump 20: servo motor
30: pressure gauge 40: flow meter
50: PID controller 51: A / D converter
53: microprocessor 55: communication converter
57: amplifier 60: motor driver
70: computer

Claims (4)

A grout pump that receives an injection material, which is a grouting material, and discharges the pressure through the injection pipe and the nozzle;
A servo motor installed in the grout pump to control the pumping speed of the grout pump according to external control;
A pressure gauge installed in one of the discharge pipes of the grout pump and outputting an analog pressure value by checking a pressure value of the injection material supplied from the grout pump;
A flow meter installed in the same discharge pipe as the pressure gauge and outputting an analog flow value by checking a flow rate of the injection material supplied from the grout pump;
It is electrically connected to the pressure gauge and the flow meter and receives the flow value and the pressure value of the pressure gauge and the flow meter and transmits it to the outside, PID calculation of the flow value and pressure value and the pressure control command value input from the outside of the servo motor A PID controller for determining a power output value;
A motor driver electrically connected to the PID controller to control an output of the servo motor in proportion to a power output value output from the PID controller; And
Grouting, comprising: a computer for performing wired and wireless communication with the PID controller, transmitting a pressure control command value to the PID controller, and displaying and storing various information through a flow rate value and a pressure value transmitted from the PID controller. Injection automation system. The method of claim 1,
The servo motor,
Grouting injection automation system, characterized in that the three-phase speed control motor. The method of claim 1,
The PID controller,
An A / D converter for converting an analog signal input from the pressure gauge and the flowmeter into a digital signal;
A microprocessor that PID-calculates the digital flow rate value, the digital pressure value input from the A / D converter, and the pressure control command value transmitted from the computer to determine and output the power output value of the servo motor;
A communication converter performing wired and wireless communication with the computer; And
Grouting injection automation system comprising an amplifier for amplifying the speed control signal output to the motor driver. The method of claim 3, wherein
The microprocessor,
As the digital flow rate value and the digital pressure value reach the pressure control command value, the rotational speed of the servo motor is decreased. When the digital flow rate value and the digital pressure value exceed the pressure control command value, the operation of the servo motor is stopped, and then And if the flow rate value and the digital pressure value are lower than the pressure control command value, operating the servo motor.

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