| 摘要 |
PURPOSE:To stabilize control by measuring variations in the position and an inclination against a construction design line, and making variation values and integral values for the corrected inclination as input values to output optimum controlled variable of the next directional control with fuzzy control. CONSTITUTION:A horizontal variation and a yawing angle against a construction design line are measured by a group of sensors 16 provided to a pilot head 4, and they are input to an automatic measuring section 18 of a controller 12. In the controller 12, a corrected hawing angle and an integral value are calculated from the horizontal variation, the yawing and the decided variation correction factor alpha. In addition, it is inputted to the controller 12 having a fuzzy controll section 20 as the input value, and controlled variable of the next horizontal directional controlling actuator is calculated to process it automatically. According to the constitution, control efficiency can be promoted. |
