수중건설로봇의 유압 제어 안정성 향상을 위한 이중화 설계
Redundant Architectural Design of Hydraulic Control System for Reliability Improvement of Underwater Construction Robot
1
조회
0
다운로드
5
인용
0
참고문헌
키워드
초록
In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.
Abstract
In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.
참고문헌 (5)
- Gohil, S., "Redundancy Management and Synchronization in Avionics Communication Products", Proceedings of Integrated Communications, Navigation and Surveillance Conference, pp.C3-1~C3-8 (2011)
- Jang, I. S., "Development Trends of Underwater Construction Robotics and R&D Strategies for Practical Use", Proceedings of the Annual Autumn Meeting of the Society of Unmanned Underwater Vehicle of Korea, pp.55~58 (2014)
- Lee, J. W., "Load Prediction using Simultaneous Evaluation and Decision Method on the Track-based Underwater Robot Platform", Proceedings of the Annual Autumn Meeting of the Society of Unmanned Underwater Vehicle of Korea, pp.73~77 (2014)
- Moreno, J. C., "Line Redundancy in MVB-TCN Devices : A Control Unit Design", Proceedings of Electrotechnical Conference, pp.789~794 (2006)
- Singh, S., "Dual Redundant Profibus Network Architecture in Hot Standby Fault Tolerant Control Systems", Proceedings of Advances in Engineering and Technology Research, pp.1~5 (2014)