한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제33권2호
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  • Pages.178-188
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  • 2019
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  • 1225-0767(pISSN)
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  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
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URI-T, 해저 케이블 매설용 ROV의 선수각 제어 및 실해역 검증

Heading Control of URI-T, an Underwater Cable Burying ROV: Theory and Sea Trial Verification

  • 조건래 (한국로봇융합연구원 해양로봇연구본부) ;
  • 강형주 (한국로봇융합연구원 해양로봇연구본부) ;
  • 이문직 (한국로봇융합연구원 해양로봇연구본부) ;
  • 이계홍 (한국로봇융합연구원 해양로봇연구본부)
  • Cho, Gun Rae (Marine Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Kang, Hyungjoo (Marine Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Lee, Mun-Jik (Marine Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Li, Ji-Hong (Marine Robotics R&D Division, Korea Institute of Robot and Convergence)
  • 투고 : 2019.01.27
  • 심사 : 2019.04.11
  • 발행 : 2019.04.30
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초록

When burying underwater cables using robots, heading control is one of the key functions for the robots to improve task efficiency. This paper addresses the heading control issue for URI-T, an ROV for underwater construction tasks, including the burial and maintenance of cables or small diameter pipelines. Through modeling and identifying the heading motion of URI-T, the dynamic characteristics and input limitation are analyzed. Based on the identification results, a PD type controller with appropriate input treatment is designed for the heading control of URI-T. The performance of the heading controller was verified in water tank experiments. The field applicability of the proposed controller was also evaluated through the sea trial of URI-T at the East Sea, with a water depth of 500 m.

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참고문헌

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