심해저 파일럿 집광로봇 유압시스템 및 제어

Abstract

This paper introduces about the hydraulic system and control method for pilot mining robot, MineRo. Firstly, the configurations of hydraulic system and electric-electronic system in the robot are explained briefly. For control of hydraulic actuators, self-developed devices for monitoring and control are presented. Finally, To improve mining efficiency of MineRo, the methods of track velocity control and gap control between seabed and the collecting device are introduced. The two controls are realized by system identification and PI(Proportional-Integral) gain tuning approach. actuators, self-developed devices for monitoring and control are presented. Finally, To improve mining efficiency of MineRo, the methods of track velocity control and gap control between seabed and the collecting device are introduced. The two controls are realized by system identification and PI(Proportional-Integral) gain tuning approach.