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Intelligent Compaction
23. & 24. January 2008, Dallas TX
1
Intelligent Compaction…
…GPS-based Compaction Control
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Intelligent Compaction
23. & 24. January 2008, Dallas TX
2
ACEplus-GPS-Receiver
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Intelligent Compaction
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3
ACEplus-DisplayACEplus
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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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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Intelligent Compaction
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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 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
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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 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
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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]
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Continuously changement of the amplitude1-Amplitude-Machine
Frequency Amplitude
Speed
Contact force
Automatically
Controlled
Roller
Parameter
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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]
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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
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Intelligent Compaction
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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
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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
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&
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Intelligent Compaction
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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
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Intelligent Compaction
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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
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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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Intelligent Compaction
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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)
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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
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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 PracticeCombining 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 %
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
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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
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Intelligent Compaction
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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 HertzDRUMAutomatic 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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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
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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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Pass 2
Pass 4
Pass 3
Pass 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 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
=
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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.
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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
Attentionlast 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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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
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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)