PURPOSE: To automatically control the excavation direction of a shield excavator by automatically selecting the rational jack pattern compatible with the present situation based on two estimated parameters related to the external force required at the minimum for the control.
CONSTITUTION: The jack pattern corresponding to the moment generated on a shield excavator main body 1 by the push of a jack is set in advance. When the next excavation is started with some moment, the balance moment Msy assumed when the shield excavator main body 1 can be possibly turned along a target is estimated. The additive moment ΔM required for the unit turn of the shield excavator main body 1 is estimated. The jack pattern corresponding to the balance moment Msy is selected to start an excavation, when the deviation E of a shield excavator from a target and its change ΔE are generated during the excavation, the deviation E and its change AE thereafter are estimated, and the additional moment ΔMe to be added to the present moment is determined in reference to the additive moment ΔM.
SANO TAIZO
KIKUCHI MASATOSHI
SAEKI HIROSHI
TAJIMA MAKOTO
