Intelligent Compaction

Intelligent Compaction…

…GPS-based Compaction Control

23. & 24. January 2008, Dallas TX
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Intelligent Compaction

ACEplus-GPS-Receiver

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 Intelligent Compaction

ACEplus ACEplus-Display

ACEplus Drum

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Intelligent Compaction

Single Drum Roller SV 212 ACEplus

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

ACE-Display
• Material Preselection
• Compaction Values

Drum
• Amplitude changes stepless
• variable Frequency

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 Intelligent Compaction

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

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

ACE-Display
• material preselection
• compaction values
M100

Brake

• Asphalt Temperature

ΔT
Asphalt Surface Temperature T
FS
Temperature Ramp ΔT
Drum (splitted)
Upper Temperature Limit for Compaction To
M100

Brake
• amplitude changes stepless
0
Tu To • variable frequency
Lower Temperature Limit for Compaction Tu

Asphalt Surface Temperature

• Infrared measurement principle

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Intelligent Compaction

ACEplus: GPS-based Asphalt Compaction Control

Switzerland, Einsiedeln 2007

Intelligent Compaction on Asphalt Job Sites

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 Intelligent Compaction

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

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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 Intelligent Compaction

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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Intelligent Compaction

ACEplus: Control Loop & Sensors [5]

Display & Operation

Excitation

Excentricity %
A
Differential Gear Box
c
oni
ctr
Ele vic
e
De Accelerationsensor
f
f opt.

Control Hydraulic Pump Valve

Unit
Exciter Position
Exciter Position Rotationsensor

Drum Acceleration
Drum Acceleration
Phase Angle

Sensors

Automatic Closed-Loop Control

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Intelligent Compaction

1-Amplitude-Machine Continuously changement of the amplitude

Frequency Amplitude

Speed

Automatically
Controlled
Roller
Parameter

Contact force

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 Intelligent Compaction

ACEplus: Control of Machine Parameters [5]

FZ

Control Compaction
Soil Stiffness

FS

x x
ϕ
FS kS cS

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

FS(x`=0, x``>0)
ϕ kS =
x
ϕ=90°: Resonance
f kS Target

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

kS >kS Target ?

FS

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 Intelligent Compaction

Searching the Resonance Frequency [4]

Natural Frequency: the Frequency at which
Natural Frequency: the Frequency at which
an Object vibrates by itself
an Object vibrates by itself
This is the Point of maximum transmitted Force
This is the Point of maximum transmitted Force

Weak Material Hard Material

Loam Gravel

• low Frequency • high Frequency

• high Amplitude • low Amplitude

High
High

Amplitude
Amplitude

Low
Low

Frequency Frequency
Low High Low High

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 Intelligent Compaction

Drum
Continuously changement
of the amplitude
1-Amplitude
Compaction/Soil Stiffness

Compaction Depth

Number of Passes/Time

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 Intelligent Compaction

Frame mfg

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

mdg
Drum
W
xd

FZ
FS =-mdxd``+FZcos(Ωt)+(mf+md)g
FS FZ=mereΩ2 ; Ω=2πφ ; xd``=d2xd/dt2

FS>0: xd=xS=x
Contact Conditions:
FS =0: xd>xS

FS FS =kSxS+cSxS`

Soil
xS
( ) ( )
md &x&d + FB + cG x& d − x& f + k G x d − x f = mu ru Ω cos(Ω ⋅ t ) + md g
2

( ) ( )
m f &x& f + cG x& f − x& d + k G x f − x d = m f g kS cS
FB = cB x& d + k B x if FB > 0
Simulation-Model
FB = 0 else Force-Driven Nonlinearity

FS,max FS,max
FS (mf+md)g FS (mf+md)g FS (mf+md)g

loss of
t Period T t t
Period T = 1/f contact Period 2T (Period Doubling)

FS,max < 2(mf+md)g : permanent Contact FS,max > 2(mf+md)g : periodic Loss of Contact FS,max > 2(mf+md)g : double Amplitude, Bouncing

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 Intelligent Compaction
x& d

Nonlinear Dynamic Behavoir:

xd
Using a Simulation Tool [12] 20
Chaos
x& d
19
x& d 18
17
16
15 x& d
Frame & xd 14
13 xd
elastic suspension 12
11
10 xd
9 13 kg m
8
Soil 7
x& d 6
x& d 5
4
Soil-Drum 3
2
Interaction xd 1
0
xd
13
12
11
MathLab/Simulink-Model 10
9
8 0-Pulse

7 t

6 10 kg m Period T

5 Deflection

x& d 4
3 Ω t
2
1 FZ Period T

0 kB cB
Period 2T

Amplitude A1 [mm] 8
xd FFT
7
A1/2 [mm] 6 A1/4

Deflection; Time nT
5 7.2 kg m
A1/3 [mm] 4
3 A1/2 A1
2
A2/3 [mm] 1 Poor Compaction, kB Compacted f/4 f/2 f=1/T
0
10 15 20 25 30 35 40 45 50

Excitation Frequency [Hz]

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 Intelligent Compaction

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

Loading the Plate

Force FS

xS
Measuring the
Deflection

FS FS=kBxS+cSxS
Mechanistic Soil model: `
xS
FS
Stiffness of Soil: kB= kB cS
xS

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 Intelligent Compaction

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

Synchgronous -2.5 g

2.5 g
Ω

Ω
Ω

Deformation 5.0 g

Exciter Static Reaction in an elastic Halfspace:

PC, LabView, Sensors

Stresses

Depth 20 cm
Soil-Measurement
Device

Depth 40 cm
Soil-Measurement
Device

Depth 80 cm
Soil-Measurement
Device Depth

⇒ the Soil/Drum-System vibrates near his lowest Resonance Frequency

⇒ the System reacts quasi-static like a Spring, complemented by a Dashpot

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 Intelligent Compaction

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

ME kB

AdequateTesting
Adequate Testing
SN 670 317 b

Plate Bearing Test → [1]

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 Intelligent Compaction

FS FS =kS(A)xS+cS(A)xS`
Layered Soil Measurement [4]
xS
kS(A) cS(A)

Soil Stiffness kS(A) [MN/m]

0 20 40 60 80 100 120
0

Homogeneous, soft Soil

0.4

Amplitude A0 [mm]
Layered Soils
- Odemark (1946)
0.8

soft Subgrade, hard Top

1.2

Practical Measurement 1.6

Texas, 2007 (August)

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Intelligent Compaction

ACEplus: Layered Soils [4]

Measurement Depth of the ACEplus-System

Loam, compacted; acting as a Spring

Measuringinto
intothe
theSubgrade
Subgrade
Measuring

Gravelly Soil, well compacted; acting as an anvil

Measuringthe
theLayer
Layer
Measuring

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 Intelligent Compaction

ACEplus: Using the System in Practice

Combining the Pass Number and the Stiffness Improvment

Pass 1 Pass 2 Pass 3 Pass 4

Gauge: Display No increase

=> Finished!
89.5%

Increase => one pass more

Roller: Stiffness kB

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 Intelligent Compaction

Spec‘s for Aggregates and Moisture Content [2]

Correlation between Dry Unit Weight and Stiffness/Bearing Capacity

Optimal
Water
60 Content 20

19
50
Modulus (Stiffness) kN/m

Dry Unit Weight kN/m3

18
Coarse Grain: Gravel
40
17

30 16

15
20
14
10
13

0
0 2 4 6 8 10 12 14
Fine Material: Loam
Water Content %
DRY WET

Prof. Dr. Jean-Louis Briaud

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Intelligent Compaction

Compaction, Density, Dry Unit Weight & Stiffness

Constant Weight, shrinking Volume => Increasing Unit Weight, increasing Compaction
Constant Weight, shrinking Volume => Increasing Unit Weight, increasing Compaction
Stiffness kB

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Intelligent Compaction

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

Mankato MN, 2005

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Intelligent Compaction

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

LWD (Light Weight Deflectometer)

DCP (Dynamic Cone Penetrometer) CIV (Clegg Impact Hammer)

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Intelligent Compaction

ACEplus: GPS meets Roller

- simple, self-explaining Application

- integrated User Piloting

- excellent Job Site Overview

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 Intelligent Compaction

ACEplus: Two Control Loops are interacting

GPS-Data
- Position
- Time

&
Continuous
Compaction
Stiffness-Data 1 Hertz
Control

Actuators

Automatic Compaction DRUM 1‘500 Hertz Electronics

Control System

Sensors

Soil-Drum-Interaction

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 Intersection
Intelligent Compaction

ACEplus: Geometrical Parameters

1
„Map
„MapGrid
GridSize“:
Size“: /110
/10ofofthe
theDrum
Drumwitdth
witdth
„Relation
„RelationDistance“:
Distance“:0.5
0.5mm
Machine
MachineWidth
Width==Drum
DrumWidth
Width(SV
(SV212:
212:2.2
2.2m)
m)

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Intelligent Compaction

ACEplus: GPS-based Compaction Measurement

GPS – Satellite

GPS
reference point
Stiffness kB

none
10 MN/m

Roller Stiffness kB: 70 MN/m

140 MN/m

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 Intelligent Compaction

backward

PASS 4
ACEplus: Counting PASS 3
the Passes PASS 2
PASS 1

forward

PASS 3
PASS 2
PASS 1

backward 5. Pass

5. Pass
PASS 2 4. Pass
PASS 1

3. Pass

forward 2. Pass

PASS 1 1. Pass

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 Intelligent Compaction

ACEplus: Process Control - increasing Compaction Values

s 4
Pas

backward

s 3
Pas
forward

s 2
Pas

backward

s 1
Pas
forward

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 Intelligent Compaction

ACEplus: Checking the Compaction Development

Stiffness kB
Pass 4

Pass 3
forward
4. Pass kB

- MINUS
backward
3. Pass kB
VariationofofCompaction
Compactionbetween
betweenpasses
passes
Variation
↑↑↑↑

↑↑
= EQUAL
Stiffness ΔkB
Difference of

ΔkB=0

↓↓
=
↓↓↓↓
Variation ΔkB

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 Intelligent Compaction

ACEplus shows: Good Compactibility of Soil Material

Stiffness kB:
none
10 MN/m

forward
70 MN/m 2. Pass kB

2. Pass ΔkB

140 MN/m
more Passes
ΔStiffness ΔkB:

↑↑↑↑ forward 9 O. K.
last Pass kB
↑↑
ΔkB=0
last Pass ΔkB
↓↓

↓↓↓↓

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 Intelligent Compaction

ACEplus shows: Bad Compactibility of Soil Material

Stiffness kB:
none
10 MN/m

forward
70 MN/m 2. Pass kB

2. Pass ΔkB

140 MN/m
more Passes
ΔStiffness ΔkB:

↑↑↑↑ forward aAttention

last Pass kB
↑↑
ΔkB=0
last Pass ΔkB
↓↓

↓↓↓↓

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 Intelligent Compaction

ACEplus: Compacted Soil

Different Subgrade
Well compacted Soil

Subgarde: Pipeline
Cover Material stays soft

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 Intelligent Compaction

ACEplus in Soil Compaction...

Position (Satellite)

Radio Signal RTK

Accuracy 2-5 cm

...on a Airport Job Site [10]

Reference Point Roller

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 Intelligent Compaction

Correlation [10]
- Single Drum Roller with GPS Position
Ausschnitt
- Plate Bearing Test [1] with GPS Position

Lastplatten-Messpunkt
ME-38

Korrelation ME1-kB, Planum "Echo-Nord"

140000 kB = 0.8027 ME1 + 11270

x

2
120000 R = 0.751
100000
kB [kN/m]

⎡ MN ⎤ ⎡ MN ⎤
⎥ = 0.8 ⋅ M E1 ⎢ m 2 ⎥ + 11.3
80000 kB ⎢
60000
⎣ m ⎦ ⎣ ⎦

40000
20000 - Soft Subsoil
0
0 20000 40000 60000 80000 100000 120000 140000 - one Layer of well graded Material
ME1 [kN/m 2]

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Intelligent Compaction

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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