TRACK FOLLOW-UP CONTROL METHOD FOR UNDERGROUND PIPE PUSHER AND RECORDING MEDIUM FOR RECORDING TRACK FOLLOW-UP CONTROL PROGRAM FOR UNDERGROUND PIPE PUSHER

摘要

PROBLEM TO BE SOLVED: To conduct the track follow-up control with high accuracy by conducting the control for a dynamic model expressing the relationship between a pilot tilting angle of an underground pipe pusher and the position and attitude angle of a pushing cylinder. ;SOLUTION: A direction correcting method of an underground pipe pusher main body includes the steps of contracting a right direction correction jack 121R, expanding a left direction correction jack 121L, and tilting a pilot head 111 to the left. Subsequently, the pilot jack 119 is expanded to press the pilot head 111 in the ground in the correcting direction. The jack of the main pusher is expanded simultaneously with the contraction of the pilot jack 119 to push in an underground pipe T. Further, a jack moving screw is rotated with the contraction of the main pusher jack to move the main pusher jack forward. This procedure is taken as one cycle, and an advance about 45 cm is accomplished by one cycle. The advance for the underground pipe T1 is completed by 6 cycles. Then the underground pipe T is connected, and the cycle is repeated.;COPYRIGHT: (C)1999,JPO