Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Heading Control of URI-T, an Underwater Cable Burying ROV: Theory and Sea Trial Verification

URI-T, 해저 케이블 매설용 ROV의 선수각 제어 및 실해역 검증

  • Cho, Gun Rae (Marine Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Kang, Hyungjoo (Marine Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Lee, Mun-Jik (Marine Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Li, Ji-Hong (Marine Robotics R&D Division, Korea Institute of Robot and Convergence)
  • 조건래 (한국로봇융합연구원 해양로봇연구본부) ;
  • 강형주 (한국로봇융합연구원 해양로봇연구본부) ;
  • 이문직 (한국로봇융합연구원 해양로봇연구본부) ;
  • 이계홍 (한국로봇융합연구원 해양로봇연구본부)
  • Received : 2019.01.27
  • Accepted : 2019.04.11
  • Published : 2019.04.30
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Abstract

When burying underwater cables using robots, heading control is one of the key functions for the robots to improve task efficiency. This paper addresses the heading control issue for URI-T, an ROV for underwater construction tasks, including the burial and maintenance of cables or small diameter pipelines. Through modeling and identifying the heading motion of URI-T, the dynamic characteristics and input limitation are analyzed. Based on the identification results, a PD type controller with appropriate input treatment is designed for the heading control of URI-T. The performance of the heading controller was verified in water tank experiments. The field applicability of the proposed controller was also evaluated through the sea trial of URI-T at the East Sea, with a water depth of 500 m.

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References

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