Pega 7.1.8 doesn't support prpcServiceUtils to automate import/export process using jenkins. If you go through the below discussion Willette has explained that prpcUtils can also be called from a custom jenkins tool or other CI tool. May be you can try to integrate this task using prpcUtils through jenkins, but me too not sure about this implementation as i had not yet tried with prpcUtils with jenkins.
After further research came to know that you can try to automate with prpcUtils, but this is not something we support, tested, documented or attempted by us. Just a suggestion that a JVM could be potentially be forked by jenkins or the Ant process called directly from some jenkins plugin.