Redundant Architectural Design of Hydraulic Control System for Reliability Improvement of Underwater Construction Robot Lee, Jung-Woo; Park, Jeong-Woo; Suh, Jin-Ho; Choi, Young-Ho;
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.
Redundancy design;Standby redundancy;Profibus DP;Hydraulic control;Underwater construction robot;
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