심해저 망간단괴 집광기를 위한 제어계측시스템의 HILS 설계

Abstract

A deep-seabed manganese nodule miner (DSNM) is being developed. DSNM consists of a tracked vehicle, nodule pick-up device, nodule crusher and so on, which are controlled remotely in real-time. This type miner has many sensors and actuators with embedded controller. Expansive, fragile and unique systems are hard to test. Hardware-in-the-loop simulation(HILS) can substantially lower the cost and save the time of testing. In this paper, we design a HILS of the control and monitoring system for DSNM, which aims at an efficient pre-test of the system design performance.