Method and device for controlling the trajectory of a shield-type tunnelling machine
AssigneeCharbonnages de France
InventorVincent Lebreton
Life of this patent
Estimating the term…
Abstract
Method of controlling the trajectory of a shield-type tunnelling machine equipped with displacement control hydraulic rams (3), characterized in that, these rams being divided into at least three groups of rams (6A, 6B, 6C), the theoretical instantaneous flowrates of fluid to be applied to each of these groups are continuously determined (40) from the curvature characteristics and the overall rate of advance set point trajectory and these groups (7-26-27-28) are supplied with instantaneous flowrates, the values of which correspond to the theoretical values.
Claims13
A method of controlling the path of a shield-type tunnelling machine equipped with displacement control hydraulic rams divided into at least three groups comprising the steps of:
- (a) setting an intended set point trajectory of advance for said machine along a desired path of curvature for advance of said machine;
- (b) computing a theoretical instantaneous flow rate of fluid to be applied to each of said groups of rams in order to advance said machine along said intended set point trajectory;
- (c) applying said theoretical instantaneous flow rate of fluid to each of said groups of rams;
- and
- (d) continuously and cyclically repeating steps (a)-(c) for each point along said desired path of curvature.
A device for controlling the trajectory of a shield-type tunnelling machine having annularly arranged displacement control rams divided into three groups, and at least three pump means for pumping fluid from a storage tank to said rams, said device comprising:
- three independent hydraulic circuits, each including one of said pump means, each of said group of rams corresponding to and being actuatable by a different one of said hydraulic circuits, at least two of said three independent hydraulic circuits each comprising a variable flow rate pump as said pump means,
- a computation means for continuously computing, for an intended set point trajectory along a desired path of curvature for advance of said machine, the theoretical instantaneous flow rates of fluid required to be applied to each of said groups of rams in order to advance said machine along said intended set point trajectory;
- control means for continuously controlling the instantaneous flow rate of each said variable flow rate pumps to equal the computed theoretical instantaneous flow rate of fluid to be applied to each said corresponding group of rams.
Dependencies are inferred from the claim text.