심해저 채광 시스템을 위한 분산제어기법의 적용에 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 ones. In order to control a large-scale system, decentralized control approaches have been proposed recently. In this paper, as a basic study on application of decentralized control, firstly, the mining system is modeled in a simplified way. Lifting system and buffer are regarded as a spherical pendulum and the flexible pipe is taken as a two-dimensional linear spring connection. Based on the derived model, the system characteristics and the feasibility of decentralized control are analyzed.