심해저 연약지반 궤도차량의 경로 추적에 관한 연구

Abstract

The deep seabed mining system is generally composed of surface vessel, lifting system, buffer, flexible pipe and miner. The mining system is regarded as a large-scale system in which each subsystem is interconnected to other one. In order to control a large-scale system, a decentralized control approaches have been proposed recently. In this paper, as a basic study on application of decentralized control, firstly, the mining system is simplified modeled, where the lifting system and buffer is regarded as a spherical pendulum and the flexible pipe is as a two-dimension linear spring. Based on the derived model, the system characteristics and the feasibility of decentralized control are analyzed.