CONTROL METHOD OF SHIELD OF TUNNEL BORING COMPLEX, AND TRACKING SYSTEM FOR ITS IMPLEMENTATION Russian patent published in 2014 - IPC E21D9/93 E21C35/24 G01C7/06 

FIELD: mining.

SUBSTANCE: control method of a shield of a tunnel boring complex consists in the fact that the shield is controlled in two planes by means of control systems in vertical and horizontal planes. By means of measurement equipment there determined are inclination angles of an actuating element relative to vertical and horizontal planes, signals as per speed of change of the inclination angle relative to vertical and horizontal planes, linear displacements in vertical and horizontal planes, and speeds of change of linear displacement in vertical and horizontal planes. The above signals are supplied to a control unit as per four coordinates, where they are compared to the task; after that, based on error signals, a relay control law of the actuating element is created. The invention also proposes a tracking control system of the shield of the tunnel boring complex, which includes the following in-series connected components: an optic direction setting device, a beam deviation unit, a membrane, a photoelectric receiving device and a four-coordinate control unit the input of which is connected to an inclination angle measurement unit. In addition, the device includes a state observer unit the input of which is connected to the inclination angle measurement unit and the output of which is connected to the control unit.

EFFECT: improving accurate and reliable control of movement of a shield of a tunnel boring complex.

2 cl, 4 dwg