Intelligent Compaction GPS-based Compaction Control 23. & 24. - - PowerPoint PPT Presentation

SLIDE 1

Intelligent Compaction

• 23. & 24. January 2008, Dallas TX

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Intelligent Compaction… …GPS-based Compaction Control

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Intelligent Compaction

• 23. & 24. January 2008, Dallas TX

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ACEplus-GPS-Receiver

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Intelligent Compaction

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ACEplus-Display ACEplus ACEplus Drum

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Intelligent Compaction

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Drum

• Amplitude changes stepless
• variable Frequency

ACE-Display

• Material Preselection
• Compaction Values

ACEplus

• Stiffness kB [MN/m]
• Number of Passes
• Process-Improvement

Single Drum Roller SV 212 ACEplus

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B r a k e M 1 B r a k e B r a k e M 1 B r a k e M 1 B r a k e B r a k e M 1 B r a k e M 1 B r a k e B r a k e M 1 B r a k e M 1 B r a k e B r a k e M 1 B r a k e M 1 B r a k e B r a k e M 1 B r a k e M 1 B r a k e B r a k e M 1

Drum (splitted)

• amplitude changes stepless
• variable frequency

ACE-Display

• material preselection
• compaction values
• Asphalt Temperature

ACEplus

• stiffness, Temperature
• number of passes
• process-improvement

Tandem Roller AV 95-II ACEplus: additional Temp.-Measurement

Asphalt Surface Temperature

• Infrared measurement principle

B r a k e M 1 B r a k e B r a k e M 1 B r a k e M 1 B r a k e B r a k e M 1 B r a k e M 1 B r a k e B r a k e M 1 B r a k e M 1 B r a k e B r a k e M 1

Asphalt Surface Temperature T

Tu To FS ΔT

Lower Temperature Limit for Compaction Tu Upper Temperature Limit for Compaction To Temperature Ramp ΔT Asphalt Surface Temperature T

Tu To FS ΔT

Lower Temperature Limit for Compaction Tu Upper Temperature Limit for Compaction To Temperature Ramp ΔT

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Intelligent Compaction

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ACEplus: GPS-based Asphalt Compaction Control Intelligent Compaction on Asphalt Job Sites

Switzerland, Einsiedeln 2007

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Intelligent Compaction

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IC Equipment - Basic Elements

• 1. Automatic Feedback Control System

for Roller Parameters (Amplitude & Frequency)

• 2. In-situ Measurement of Material Stiffness
• 3. GPS-based Compaction Control, QA/QC

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References (I)

[1] Asphalt Institute Soils Manual; Chapter VIII: Bearing Plate Determination (Plate Bearing Test)

• pp. 93-110, Asphalt Institute, Manual Series No. 10 (MS-10), 5th Edition, Lexington KY

[2] Richard D. Barksdale The Aggregate Handbook 4th Printing, National Stone Association, Washington D. C., 2001 [3] Asphalte Institute The Asphalt Handbook; Chapter 7: Compacting Hot-Mix Asphalt, pp. 283-307 Asphalt Institute, Manual Series No. 4 (MS-4), Edition 1989 [4] Anderegg & Kaufmann Intelligent Compaction with Vibratory Rollers – Feedback Control Systems in Automatic Compaction and Compaction Control; Journal of the Transportation Research Board (TRB), Soil Mechanics 2004

• No. 1868, pp. 124-134, Washington D. C. 2004

[5] Anderegg, von Felten Compaction Monitoring using Intelligent Soil Compactors; Presentation and Proceedings ASCE & Kaufmann GeoCongress 2006, Atlanta February 2006 [6] Mike Mooney, R. Rinehart The Influence of Heterogeneity on Vibratory Roller Compactor Response Presentation and Proceedings ASCE, GeoCongress 2006, Atlanta February 2006 [7] Mike Mooney, R. Rinehart Field Monitoring of Roller Vibration during Compaction of Subgrade Soil Journal of Geotechnical and Geoenvironmental Engineering, ASCE 2007 [8] David White Field Validation of Intelligent Compaction Monitoring Technology for Unbound Materials and hot Mix Asphalts; Interim Project Report, TH14 Janesville MN, 10/28 – 7/11 2005 CTRE, Iowa State University, Ames IA March 2006 [9] C. K. Su The new Age of Rolling – The North Carolina Experience; IC Strategic Meeting, Aubrun AL, 2004

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References (II)

[10] Preisig, Noesberger Continuous Compaction Control based on Geotechnical Parameters

• Dr. Caprez, Prof. Amann

Forschungsauftrag VSS 2000/353; Federal Institute of Technology ETH, Zurich 2006

• R. Anderegg

[11] Preisig, Dr. Caprez Validation of Continuous Compaction Control (CCC) Methods & Prof. Amann Paper and Presentation: 9/23/2003; Workshop on Soil Compaction Technical University of Hamburg-Harburg, Germany [12] Kuno Kaufmann Higher Compaction Performance using two Excitation Frequencies Master Thesis (MSc.), in German with an English Abstract Bern University of Applied Sciences, Engineering and Information Technology Burgdorf (Switzerland) 2006 [13] A. Teferra, E. Schultze Formulae, Charts and Tables – Soil Mechanics and Foundation Engineerings Stresses in Soils

• A. A. Balkema, Rotterdam & Brookfield 1998

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Exciter Position Phase Angle Electronic Device

Hydraulic Pump Valve Differential Gear Box

Drum Acceleration f opt.

Drum Acceleration Exciter Position

f

Excitation Display & Operation

Automatic Closed-Loop Control A

Control Unit

Excentricity % Accelerationsensor Rotationsensor

Sensors

ACEplus: Control Loop & Sensors [5]

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Continuously changement of the amplitude 1-Amplitude-Machine Frequency Amplitude Speed Contact force Automatically Controlled Roller Parameter

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Intelligent Compaction

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12 Compaction Soil Stiffness

kS cS FS x kS = FS(x`=0, x``>0) x Control FS FZ ϕ x kS >kS Target ? kS Target ϕ f

• 1. Phase Angle ϕ....................=>................Frequency f

ϕ=90°: Resonance

FS t

• 2. Soil Force FS...................... =>.............Eccentricity mere

ACEplus: Control of Machine Parameters [5]

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Searching the Resonance Frequency [4]

Frequency High Low Amplitude High Low Frequency High Low Amplitude High Low

Na Natu tura ral Frequency: the equency: the Freq requency ency at w hich ich an an O Objec ject vi vibra brates es by by it itse self lf Th This is is is the the Poi

• int of

nt of maxim ximum tra rans nsmitte mitted Forc

• rce

Na Natu tura ral Frequency: the equency: the Freq requency ency at w hich ich an an O Objec ject vi vibra brates es by by it itse self lf Th This is is is the the Poi

• int of

nt of maxim ximum tra rans nsmitte mitted Forc

• rce

Hard Material Weak Material

• low Frequency
• high Amplitude

Loam

• high Frequency
• low Amplitude

Gravel

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Continuously changement

• f the amplitude

1-Amplitude Compaction/Soil Stiffness Number of Passes/Time

Compaction Depth

Drum

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Frame Drum Soil

FS xd FS =-mdxd``+FZcos(Ωt)+(mf+md)g FZ=mereΩ2 ; Ω=2πφ ; xd``=d2xd/dt2 mfg mdg FZ W FS>0: xd=xS=x FS =0: xd>xS Contact Conditions:

Analytical Model [4], [5], [7]

t (mf+md)g Period 2T (Period Doubling) FS FS,max < 2(mf+md)g : permanent Contact FS t Period T = 1/f (mf+md)g FS,max FS,max > 2(mf+md)g : periodic Loss of Contact FS,max > 2(mf+md)g : double Amplitude, Bouncing FS t Period T (mf+md)g FS,max loss of contact

Force-Driven Nonlinearity

FS FS =kSxS+cSxS` xS kS cS

( ) ( )

( )

( ) ( )

g cos

2 f d f G d f G f f d u u f d G f d G B d d

m x x k x x c x m g m t r m x x k x x c F x m = − + − + + ⋅ Ω Ω = − + − + + & & & & & & & &

else if = > + =

B B B d B B

F F x k x c F &

Simulation-Model

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Nonlinear Dynamic Behavoir: Using a Simulation Tool [12]

MathLab/Simulink-Model

Frame & elastic suspension Soil-Drum Interaction Soil

A1/2 A1 A1/4

FZ Ω t t Period T Period T Period 2T

FFT

f=1/T f/2 f/4 Poor Compaction, kB Compacted Deflection; Time nT kB cB 0-Pulse Deflection FZ Ω t t Period T t Period T Period T Period T Period T Period 2T Period 2T Period 2T

FFT

f=1/T f/2 f/4

FFT

f=1/T f=1/T f/2 f/2 f/4 f/4 Poor Compaction, kB Compacted Deflection; Time nT kB cB 0-Pulse Deflection

d

x

d

x &

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

Chaos

3 4 5 6 7 8 9 10 11 12 13

d

x

d

x &

13 kg m 10 kg m

1 2 3 4 5 6 7 8 10 15 20 25 30 35 40 45 50

Excitation Frequency [Hz]

Amplitude A1 [mm] A1/2 [mm] A2/3 [mm] A1/3 [mm]

1 2

7.2 kg m

d

x

d

x &

d

x

d

x &

d

x

d

x &

d

x

d

x &

d

x

d

x &

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Intelligent Compaction

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Mechanistic Soil model: FS FS=kBxS+cSxS ` xS kB cS Stiffness of Soil: kB= FS xS Loading the Plate Force FS xS

ACEplus: Measuring the Soil Compaction [10], [11]

Measuring the Deflection

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ACEplus: Soil Stiffness –practical Validation [4], [13]

Depth 40 cm

Exciter

Depth 80 cm Depth 20 cm Soil-Measurement Device PC, LabView, Sensors

2.5 g 5.0 g

• 2.5 g

Ω Ω Ω 2.5 g 5.0 g

• 2.5 g

Ω Ω Ω Ω Ω Ω

Soil-Measurement Device Soil-Measurement Device Static Reaction in an elastic Halfspace: Depth

⇒ the Soil/Drum-System vibrates near his lowest Resonance Frequency ⇒ the System reacts quasi-static like a Spring, complemented by a Dashpot

Stresses

Synchgronous Deformation

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Correlation with Plate Bearing Test [10], [11]

ME

SN 670 317 b

kB

Adequate Testing Adequate Testing

Plate Bearing Test → [1]

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Layered Soil Measurement [4]

Layered Soils

• Odemark (1946)

FS FS =kS(A)xS+cS(A)xS` xS kS(A) cS(A)

20 40 60 80 100 120 Soil Stiffness kS(A) [MN/m] 0.4 0.8 1.2 1.6 Homogeneous, soft Soil soft Subgrade, hard Top Amplitude A0 [mm] Practical Measurement Texas, 2007 (August)

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ACEplus: Layered Soils [4]

Measurement Depth of the ACEplus-System Gravelly Soil, well compacted; acting as an anvil Loam, compacted; acting as a Spring Measuring into the Subgrade Measuring into the Subgrade Measuring the Layer Measuring the Layer

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89.5%

Gauge: Display

Pass 1 Pass 2 Pass 3 Pass 4 Increase => one pass more

Roller: Stiffness kB

No increase => Finished!

ACEplus: Using the System in Practice

Combining the Pass Number and the Stiffness Improvment

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Spec‘s for Aggregates and Moisture Content [2]

Correlation between Dry Unit Weight and Stiffness/Bearing Capacity

Water Content % Dry Unit Weight kN/m3

13 14 15 16 17 18 19 20 10 20 30 40 50 60 2 4 6 8 10 12 14

Modulus (Stiffness) kN/m

Coarse Grain: Gravel Fine Material: Loam DRY WET

Optimal Water Content

• Prof. Dr. Jean-Louis Briaud

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24 Constant Weight, shrinking Volume => Increasing Unit Weight, increasing Compaction Constant Weight, shrinking Volume => Increasing Unit Weight, increasing Compaction

Compaction, Density, Dry Unit Weight & Stiffness

Stiffness kB

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MN DOT: Testing ACE Measurement [8], [9]

Mankato MN, 2005

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Correlation ACE kB and U.S. Test Data [8]

DCP (Dynamic Cone Penetrometer) LWD (Light Weight Deflectometer) CIV (Clegg Impact Hammer)

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• simple, self-explaining Application
• integrated User Piloting
• excellent Job Site Overview

ACEplus: GPS meets Roller

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Electronics Soil-Drum-Interaction Actuators 1‘500 Hertz DRUM Automatic Compaction Control System

&

Stiffness-Data GPS-Data

• Position
• Time

1 Hertz Continuous Compaction Control Sensors

ACEplus: Two Control Loops are interacting

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Intersection

ACEplus: Geometrical Parameters

„Map Grid Size“: 1/10 of the Drum witdth „Relation Distance“: 0.5 m Machine Width = Drum Width (SV 212: 2.2 m) „Map Grid Size“: 1/10 of the Drum witdth „Relation Distance“: 0.5 m Machine Width = Drum Width (SV 212: 2.2 m)

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Stiffness kB GPS reference point GPS – Satellite

ACEplus: GPS-based Compaction Measurement

Roller Stiffness kB:

none 10 MN/m 70 MN/m 140 MN/m

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PASS 1 PASS 2 PASS 3 PASS 4 backward PASS 1 PASS 2 PASS 3 forward PASS 1 PASS 2 backward PASS 1 forward

• 1. Pass
• 5. Pass

ACEplus: Counting the Passes

• 2. Pass
• 3. Pass
• 4. Pass
• 5. Pass

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P a s s 2 P a s s 4 P a s s 3 P a s s 1

backward backward

ACEplus: Process Control - increasing Compaction Values

forward forward

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MINUS EQUAL

• =
• 3. Pass kB

↓↓↓↓ ↓↓ ΔkB=0 ↑↑ ↑↑↑↑

Variation ΔkB

Variation of Compaction between passes Variation of Compaction between passes

Stiffness kB Difference of Stiffness ΔkB

Pass 3

• 4. Pass kB
• ACEplus: Checking the Compaction Development

forward backward Pass 4

=

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• 2. Pass ΔkB

↓↓↓↓ ↓↓

ΔkB=0

↑↑ ↑↑↑↑

• 2. Pass kB

ACEplus shows: Good Compactibility of Soil Material

Stiffness kB:

none 10 MN/m 70 MN/m 140 MN/m

last Pass kB

forward

last Pass ΔkB

ΔStiffness ΔkB: forward

more Passes

• O. K.

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↓↓↓↓ ↓↓

ΔkB=0

↑↑ ↑↑↑↑ Stiffness kB:

none 10 MN/m 70 MN/m 140 MN/m

ΔStiffness ΔkB:

ACEplus shows: Bad Compactibility of Soil Material

• 2. Pass kB

forward

• 2. Pass ΔkB

last Pass ΔkB

forward

more Passes

Attention

• last Pass kB

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ACEplus: Compacted Soil Different Subgrade

Well compacted Soil Subgarde: Pipeline Cover Material stays soft

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Reference Point Position (Satellite)

Radio Signal RTK Accuracy 2-5 cm

Roller

ACEplus in Soil Compaction... ...on a Airport Job Site [10]

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Intelligent Compaction

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38 Ausschnitt

Lastplatten-Messpunkt ME-38

Korrelation ME1-kB, Planum "Echo-Nord"

kB = 0.8027x ME1 + 11270 R2 = 0.751 20000 40000 60000 80000 100000 120000 140000 20000 40000 60000 80000 100000 120000 140000 ME1 [kN/m2] kB [kN/m]

• Soft Subsoil
• one Layer of well graded Material

3 . 11 8 .

2 1

+ ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ ⋅ = ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ m MN M m MN k

E B

Correlation [10]

• Single Drum Roller with GPS Position
• Plate Bearing Test [1] with GPS Position

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Intelligent Compaction (Benefits for the Customers)

• 1. Optimized/Maximized Productivity
• Feedback Control System: Automatic Adjustment
• f Compaction Energy (Amplitude, Frequency, Impact Spacing)
• Process-Integrated Measurement of Soil Stiffness

=> Easy to operate

• 2. Sustainable Compaction
• Homogeneous, optimal Compaction Results
• Continuous Compaction Control (GPS)