Fuzzy control law null of small caliber tunnel

摘要

PURPOSE:To automate the control of a direction by using a fuzzy control method in which the head angle of the front end of a robot is controlled while the robot is pushed in and propelled in a non-earth-moving type and the direction is corrected. CONSTITUTION:The system of a tunnel robot is composed of a tunnel robot body 1 having a head-angle correcting function, a buried pipe 2, a pipe pushing device 3 pushing in the buried pipe, a hydraulic device 4 and a console panel 5. A head angle is corrected successively by an operator 6, and a direction is controlled so as to be directed along a design line, and a multiple fuzzy control regulation is used for the determination method of the head angle. A deviation x=xo and the angle of deviation y=yo are input to the multiple fuzzy control regulation, and an algebraical product-addition-centroid metal and other non-fuzzy changing method and the like are employed for the head angle (z). Accordingly, the control of the direction can be automated.