| 摘要 |
PURPOSE:To enable directional control with high degree of accuracy while stabilizing facing by controlling drive-force so that it may correspond to static earth pressure of the facing and, at the same time, controlling the drive-force while anticipating the load distribution to a target direction from the displacement of the ground in front of the facing and the present load distribution. CONSTITUTION:A self-position detecting receiver 30, a vectorial angle-detecting gyro 32, each driving jack 16 load detecting sensor 34, an attitude angle- detecting pitching meter 31, an earth pressure gauge 36 for detecting 3 axial earth pressure applied to a cutter head 10 and the like are mounted to an shield excavator. A position and attitude of the present shield excavator are measured, and a position and attitude at a target point are calculated. After that, a vectorial angle of the earth pressure vector being acted on the excavator now is measured, and a target value is corrected. Then, after a target value of the load distribution is corrected, a penetration test is made in advance to calculate a ground displacement characteristic. In addition, each driving jack 16 is so controlled that it becomes specific driving pressure or stroke. |
