| 摘要 |
PROBLEM TO BE SOLVED: To improve precision of estimation by predicting a horizontal position while estimating an unknown parameter for each directional control operation in accordance with a specified model to find the horizontal position. SOLUTION: A positional changing angle per one stroke is found by linear- connecting a change of a positional angle for each motion found from a setting angle of a pilot head and an actual changing angle at the time of estimating the horizontal position of a tunnel propulsive machine main body 11. Thereafter, a positional angle of the main body after an optional stoke is found by accumulating this value and a positional angle initial value, a change of a distance from a standard line for each finish of motion by specified factors of length of each part of the main body 11, etc., and linear-connected, and a change distance from the standard line of a broken part of the main body 11 after the next one stroke is found. Thereafter, the horizontal position is computed from a distance from the standard line of the broken part found from accumulation of this changed distance and the initial value the positional angle of the main body 11, the pilot head angle, and length of each part of the main body 11. Consequently, it is possible to improve precision and to improve workability. |
