Development of positioning control system of excavator for the diaphragm wall method considering ground properties

（1）地下连续墙法挖掘机与周围土体相互作用的力学模型建立了地下连续墙法挖掘机与周围土体相互作用的力学模型。在该公式中，考虑了挖掘机装载板处位移的非线性，因为位移相对较大，而挖掘机侧壁处的位移被认为是弹性的，因为位移相对较小。为了研究所提出的模型的有效性，进行了一系列的测试，通过使用小型挖掘机。理论计算值与实验值吻合较好，证明了该力学模型的有效性。(2)根据（1）所示的力学模型，提出了根据挖掘机的初始响应确定控制条件的控制算法。由于通过分析挖掘机的初始响应可以估计周围地面的特性，因此可以在事先不知道地面特性的情况下获得平滑的控制结果。一系列的实验室测试结果表明，所提出的控制算法的有效性。(3)建立了基于模糊推理的控制算法，并进行了实际挖掘机的试验，采用模糊推理算法，根据挖掘机的挖掘速度、提升重量和滚筒刀具的扭矩三种输入数据，输出SPT N值，最后，本文提出了一种基于模糊推理的位置控制算法，并证明了该算法的有效性用实际挖掘机进行了现场试验。

Main results obtained from this research were as follows :(1) Formulation of interaction between the excavator for the diaphragm wall method and the surrounding groundThe interaction between the excavator for the diaphragm wall method and the surrounding ground was mechanically formulated. In this formulation, the non-linearity of displacement at the loading plate of the excavator was considered since the displacement was relatively large, while displacement at the side wall of the excavator was regarded elastic since the displacement is relatively small. A series of tests were carried out by use of a miniature excavator in order to investigate the effectiveness of the proposed model. The theoretical values showed a good accordance with the experimental values, so that it was proved that the proposed mechanical model was valid in this case.(2) Creation of control algorism considering ground properties and the examination using miniature excavatorControl algorism to determine the control conditions from the inital response of the excavator was proposed based on the mechanical model shown in (1). Since the properties of the surrounding ground can be estimated by analyzing the initial response of the excavator, smooth control results could be obtained without knowing the ground properties beforehand. A series of laboratory tests resulted in making clear the effectiveness of the proposed control algorism.(3) Creation of control algorism on fuzzy reasoning and the examination using actual excavator.Fuzzy reasoning algorism to output SPT N-values based on three kinds of input data, that is the penetration speed of the excavator, the lifting weight and the torque of drum cutters, was constructed.Moreover positioning control algorism incorporated the fuzzy reasoning algorism was created and finally the effectiveness of the proposed control algorism were proved by the in-situ tests using actual excavator.