Redundant Architectural Design of Hydraulic Control System for Reliability Improvement of Underwater Construction Robot

수중건설로봇의 유압 제어 안정성 향상을 위한 이중화 설계

Lee, Jung-Woo;Park, Jeong-Woo;Suh, Jin-Ho;Choi, Young-Ho

  • Received : 2015.07.09
  • Accepted : 2015.10.22
  • Published : 2015.10.31


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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