| 摘要 |
PURPOSE:To increase the degree of accuracy of excavation by calculating pushing force of jacks in consideration of resistance force by earth pressure in front of a cutter head and grippers so that actual displacement becomes target displacement specified in advance, controlling an output regulating valve so that the calculated pushing force is obtained. CONSTITUTION:A displacement operating section 56 compares a position of a cutter head 16 calculated by a head position operating section 52 with a cutter head position or a reference point obtained by the head position operating section 52, and displacement of the cutter head 16 is calculated. While, a resistance operating section 58 calculates resistance force FR met in the case the cutter head 16 is advanced in consideration of moment by reaction force received by earth pressure distribution acted on the front of the cutter head 16 or grippers 19a-19m. A pushing force distribution operating section 64 calculates pushing force necessary for obtaining new target displacement obtained by a target displacement operating section 62, control signals to change setting pressure of proportional electromagnetic relief valves 38a-38n is accordance with pushing force of the calculated thrust jacks 26a-26n are inputted to an amplifier unit 66, and opening and closing control signals are transmitted to electromagnetic selector valves 34a-34n. |
