Apparatus and method for controlling an underground boring machine

A system for controlling a penetration speed of an underground cutting tool, comprising:

• a drill pipe to which the cutting tool is coupled;
• a driving apparatus coupled to the drill pipe, the driving apparatus rotating the drill pipe at a set speed of rotation and displacing the pipe at a set rate of displacement;
• and
• a controller coupled to the driving apparatus, the controller monitoring a displacement load as the cutting tool is rotated at the set speed of rotation and displaced at the set rate of displacement, the controller modifying a rate of cutting tool displacement while maintaining the speed of cutting tool rotation at the set speed of rotation to achieve a predetermined displacement load profile.

A method for controlling a penetration speed of an underground cutting tool, comprising:

• setting a liquid flow rate;
• calculating a maximum cutting tool displacement rate using the set liquid flow rate;
• and
• automatically adjusting a cutting tool displacement rate in response to the calculated maximum cutting tool displacement rate.