SYSTEM FOR CONTROLLING DIRECTION OF UNDERGROUND EXCAVATOR

摘要

A system for controlling the direction of an underground excavator for carrying out underground excavation while performing a directional control by rocking a pilot jack through a rocking jack provided on the system, wherein a rocking manipulated variable in the vertical direction is determined by use of a fuzzy inference of two inputs and one output, in which a corrected pitching angle and a steering sensitivity in the vertical direction serve as the two inputs and a rocking manipulated variable in the vertical direction serves as the one output, while a rocking manipulated variable in the horizontal direction is determined by use of another fuzzy inference of two inputs and one output, in which a corrected yawing angle and a steering sensitivity in the horizontal direction serve as the two inputs and a rocking manipulated variable in the horizontal direction serves as the one output. As a result, a rocking manipulated variable can be determined in quick response to a change in the nature of the ground.