| 摘要 |
PURPOSE:To improve excavation precision without oscillation of a segment and being influenced by disturbance and to facilitate control by a method wherein the pressure of a propulsion jack is automatically detected by propulsion, and a horizontal and a vertical direction are independently controlled. CONSTITUTION:The position and the orientation angle of a shield excavator 1 are detected by means of a position sensor 3 and an orientation angle sensor 4. A position target value on a plan and a detection position are compared with each other by a command part 6 to determine a position deviation, and orientation angle target values in a horizontal and a vertical direction are computed. The orientation angle target value is compared with a detecting orientation angle to determine a deviation between orientation angles in a horizontal and a vertical direction. A pressure target value to correct the deviation at each of four or more propulsion jacks 2 or at each group thereof is computed by a control part 12. A fluid pressure is regulated according to a pressure target value by means of pressure regulators 10... as a pressure exerted on the propulsion jack 2 is detected by pressure sensors 11... to control a direction. |
