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Intelligent Compaction

23. & 24. January 2008, Dallas TX

1

Intelligent Compaction…

…GPS-based Compaction Control





2

ACEplus-GPS-Receiver





3

ACEplus-DisplayACEplus

ACEplus Drum





4

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





6

ACEplus: GPS-based Asphalt Compaction Control

Intelligent Compaction on Asphalt Job Sites

Switzerland, Einsiedeln 2007





7

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





8

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 2005CTRE, 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





9

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 CompactionTechnical University of Hamburg-Harburg, Germany

[12] Kuno Kaufmann Higher Compaction Performance using two Excitation Frequencies Master Thesis (MSc.), in German with an English AbstractBern 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 SoilsA. A. Balkema, Rotterdam & Brookfield 1998





10

Exciter Position

Phase Angle

E l e c t r o n i c

D e v i c

e

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]





11

Continuously changement of the amplitude1-Amplitude-Machine

Frequency Amplitude

Speed

Contact force

Automatically

Controlled

Roller

Parameter





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 mer e

ACEplus

: Control of Machine Parameters [5]





14

Continuously changement

of the amplitude

1-Amplitude

C o m p a

c t i o n

/ S o

i l S t i f f n e s s

Number of Passes/Time

C

o m p a c

t i o n

D e p

t h

Drum





15

Frame

Drum

Soil

FS

xd

FS =-mdxd``+FZcos(Ωt)+(mf +md)g

FZ=mer eΩ2 ; Ω=2πφ ; xd``=d2xd /dt2

mf g

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

tPeriod 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

tPeriod T

(mf +md)g

FS,max

loss of

contact

Force-Driven Nonlinearity

FS FS =kSxS+cSxS`

xS

kScS

( ) ( ) ( )( ) ( ) g

cos2

f d f Gd f G f f

d uu f d G f d G Bd d

m x xk x xc xm

gmt r m x xk x xcF xm

=−+−+

+⋅ΩΩ=−+−++

&&&&

&&&&

else 0

0if

=

>+=

B

B Bd B B

F

F xk xcF &

Simulation-Model





16

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

tPeriod T

Period T

Period 2T

FFT

f=1/Tf/2f/4P oo r C omp ac ti on ,kB Compacted

D e f l e c t i o n ; T i m e n T

kB cB

0-Pulse

Deflection

FZ

Ω t

tPeriod T

tPeriod T

Period TPeriod TPeriod T

Period 2TPeriod 2TPeriod 2T

FFT

f=1/Tf/2f/4

FFT

f=1/Tf=1/Tf/2f/2f/4f/4P oo r C omp ac ti on ,kB Compacted

D e f l e c t i o n ; T i m e n T

kB cB

0-Pulse

Deflection

d x

d x&

012345678910

11121314151617181920

Chaos

3456789

10111213

d x

d x&

13 kg m

10 kg m

01234567

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]

012

7.2 kg m

d x

d x&

d x

d x&

d x

d x&

d x

d x&

d x

d x&





17

Mechanistic Soil model:FS FS=kBxS+cSxS

`

xS

kB cSStiffness of Soil: kB=FS

xS

Loading the Plate

Force FS

xS

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

Measuring the

Deflection





18

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

Depth 40 cm

Exciter

Depth 80 cm

Depth 20 cmSoil-Measurement

Device

PC, LabView, Sensors

2.5 g

5.0 g

-2.5 g

0

Ω

Ω Ω

2.5 g

5.0 g

-2.5 g

0

Ω

Ω Ω

Ω

Ω Ω

Soil-MeasurementDevice

Soil-MeasurementDevice

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





19

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

ME

SN 670 317 b

kB

Adequate Testing Adequate Testing

Plate Bearing Test → [1]





20

Layered Soil Measurement [4]

Layered Soils- Odemark (1946)

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

xSkS(A) cS(A)

0 20 40 60 80 100 120

Soil Stiffness kS(A) [MN/m]

0.4

0

0.8

1.2

1.6

H o m o g

e n e o u s ,

s o

f t S o

i l

s o

f t S u b g r a

d e ,

h a r d

T o p

A m p

l i t u d e

A 0

[ m m

]

Practical Measurement

Texas, 2007 (August)





21

ACEplus: Layered Soils [4]

Measurement Depth of the ACE plus -System

Gravelly Soil, well compacted; acting as an anvil

Loam, compacted; acting as a Spring

Measuring into the SubgradeMeasuring into the Subgrade

Measuring the Layer Measuring the Layer





22

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 PracticeCombining the Pass Number and the Stiffness Improvment





23

Spec‘s for Aggregates and Moisture Content [2]

Correlation between Dry Unit Weight and Stiffness/Bearing Capacity

Water Content %

D r y

U n

i t W e

i g h t k N / m 3

13

14

15

16

17

18

19

20

0

10

20

30

40

0

50

60

2 4 6 8 10 12 14

M o

d u l u

s ( S t i f f n e s s

) k N / m

Coarse Grain: Gravel

Fine Material: Loam

DRY WET

Optimal

Water

Content

Prof. Dr. Jean-Louis Briaud





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

S t i f f n

e s s

k B





26

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

DCP (Dynamic Cone Penetrometer)

LWD (Light Weight Deflectometer)

CIV (Clegg Impact Hammer)





27

- simple, self-explaining Application

- integrated User Piloting

- excellent Job Site Overview

ACEplus: GPS meets Roller





28

Electronics

Soil-Drum-Interaction

Actuators

1‘500 HertzDRUMAutomatic Compaction

Control System

&Stiffness-Data

GPS-Data

- Position

- Time

1 Hertz

Continuous

Compaction

Control

Sensors

ACEplus: Two Control Loops are interacting





29

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)





30

S t i f f n e s s k B

GPS

reference point

GPS – Satellite

ACEplus: GPS-based Compaction Measurement

Roller Stiffness kB:

none

10 MN/m

70 MN/m

140 MN/m





31

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





32

Pass 2

Pass 4

Pass 3

Pass 1

backward

backward

ACEplus: Process Control - increasing Compaction Values

forward

forward





33

MINUS

EQUAL

-

=

3. Pass kB

↓↓↓↓

↓↓

ΔkB=0

↑↑

↑↑↑↑

Variation ΔkB

Variation of Compaction between passesVariation of Compaction between passes

S t i f f n e s s

k B

D i f f e r e

n c e o

f

S t i f f n e

s s

k B

Pass 3

4. Pass kB

-

ACEplus: Checking the Compaction Development

forward

backward

Pass 4

=





34

2. Pass ΔkB

↓↓↓↓

↓↓

ΔkB=0

↑↑

↑↑↑↑

2. Pass kB

ACEplus shows: Good Compactibility of Soil MaterialStiffness 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.





35

↓↓↓↓

↓↓

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

Attentionlast Pass kB





36

ACEplus: Compacted Soil

Different Subgrade

Well compacted Soil

Subgarde: Pipeline

Cover Material stays soft





37

Reference Point

Position (Satellite)

Radio Signal RTK

Accuracy 2-5 cm

Roller

ACEplus in Soil Compaction...

...on a Airport Job Site [10]





38

Ausschnitt

Lastplatten-Messpunkt

ME-38

Korrelation ME1-kB, Planum "Echo-Nord"

kB = 0.8027x ME1 + 11270

R2 = 0.751

0

20000

40000

60000

80000

100000

120000

140000

0 20000 40000 60000 80000 100000 120000 140000

ME1 [kN/m2]

k B

[ k N / m ]

- Soft Subsoil

- one Layer of well graded Material

3.118.021 +⎥⎦

⎤⎢⎣

⎡⋅=⎥

⎦

⎤⎢⎣

⎡

m

MN M

m

MN k E B

Correlation [10]

- Single Drum Roller with GPS Position

- Plate Bearing Test [1] with GPS Position





39

Intelligent Compaction (Benefits for the Customers)

1. Optimized/Maximized Productivity

- Feedback Control System: Automatic Adjustment

of 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)

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