Skip to main content
SpringerLink
Log in

Track velocity control of crawler type underwater mining robot through shallow-water test

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

The concept of continuous mining for manganese nodules suggests three sub-operations in total mining: collecting, lifting, onboard treatment. The combination of three components could be shaped by self-propelled seafloor mining robot, flexible conduit and buffer, lifting pumps and pipe, and mining platform. Particularly, the self-propelled robot tracking the mining paths on the seafloor is the key to accomplish the continuous mining. This paper discusses track velocity control of remotely operated mining robot, which is a basic and indispensable requirement for path tracking. The track velocity control is realized by PI controller from gain tuning formulas based on the model identification. First, to investigate the nature of the tracking system, a laboratory test is executed with the robot hung in air by overhead crane. Next, the transfer function of the tracking system is identified by the open-loop response and the closed-loop response. Through familiar tuning formulas based on the identified system parameters, PI gains are tuned. Finally, among the tuned PI gains, the one of best performance is set as the track velocity controller.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. S. Hong, Marine mineral resources-world market and opportunities in the coming decade, 2010 SMM Workshop, Offshore — Deep Sea Mining Dialogue (2010).

  2. S. Hong, H. W. Kim, J. S. Choi, T. K. Yeu, S. J. Park, C. H. Lee and S. M. Yoon, A self propelled deep-seabed miner and lessons from shallow water tests, Proc. of the ASME 010 29 th International Conference on OMAE (2010).

  3. S. Hong, J. S. Choi, H. W. Kim, T. K. Yeu, S. J. Park, T. H. Lee, U. H. Yoo and J. J. Jung, Development of a self-propelled test collector for deep-seabed manganese nodules, Proceedings of the Seventh ISOPE Ocean Mining Symposium (2007) 1–4.

  4. L. Li and Z. Jue, Research of China’s pilot-miner in the mining system of poly-metallic nodule, Proceedings of the Sixth ISOPE Ocean Mining Symposium (2005) 124–131.

  5. C. R. Deepak, S. Ramji, N. R. Ramesh, S. M. Babu, A. Raju, M. A. Shajahan, and M. A. Atmanand, Development and Testing of Underwater Mining System for Long Term Operations using Flexible Riser Concept, Proceedings of the Seventh ISOPE Ocean Mining Symposium (2007) 166–170.

  6. K. Amudha, S. Rajesh, N. R. Ramesh, M. Babu, A. Raju, C. R. Deepack and M. A. Atmanand, Development and testing of remotely operated artificial nodule laying system at 500m water depth, Proceedings of the Eighth ISOPE Ocean Mining Symposium (2009) 233–238.

  7. S, A. Rajesh, A. A. Gnanaraj, A. Velmurugan, R. Ramesh, P. Muthuvel, M. K. Babu, N. R. Ramesh, C. R. Deepak, and M. A. Atmanand, Qualification tests on underwater mining system with manganese nodule collection and crushing devices, Proceedings of the Ninth ISOPE Ocean Mining Symposium (2011) 110–115.

  8. J. S. Chung, Track-keeping control of seafloor miner by successive learning of unknown velocity and soil properties, Proceedings of the Third ISOPE Ocean Mining Symposium (1999) 1–6.

  9. J. S. Chung, Deep-ocean mining technology: Learning Curve ?, Proceedings of the Fifth ISOPE Ocean Mining Symposium (2003) 1–6.

  10. K. Herzog, E. Schulte, M. A. Atmanand and W. Schwarz, Slip control system for a deep-sea mining machine, IEEE Trans. On Automation Science and Engineering, 4(2) (2007) 282–286.

    Article  Google Scholar 

  11. J. G. Ziegler and N. B. Nichols, Optimum settings for automatic controllers, Transactions of the ASME (1942) 759–765.

  12. D. Xue, Y. Q. Chen and D. P. Atherton, Chap 6: PID controller design. Linear Feedback Controller-Analysis and Design with MATLAB, SIAM (2007).

  13. J. C. Basilio and S. R. Matos, Design of PI and PID controllers with transient performance specification, IEEE Transactions on Education, 45(4) (2002) 364–370.

    Article  Google Scholar 

  14. E. Granado, E. Mata, S. Revollar, W. Colmenares and O. Perez, Study about system identification for second order process: an open and closed loop improvement, Rev. Ingenieria UC, 11 (2004) 41–47.

    Google Scholar 

  15. S. Skogestad, Simple analytic rules for model reduction and PID controller tuning, Journal of Process Control, 13 (2003) 291–309.

    Article  Google Scholar 

  16. K. J. Astrom and B. Wittenmark, Computer controlled systems: theory and design (3rd ed.), Upper Saddle River, NJ: Prentice-Hall (1997).

    Google Scholar 

  17. A. R. Jose, M. L. Rosendo, V. Alejandra and U. Rafael, Optimality of internal model control tuning rules, Ind. Eng. Ghem. Res, 43 (2004) 7951–7958.

    Article  Google Scholar 

  18. O. Lequin, M. Gevers, M. Mossberg, E. Bosmans and L. Triest, Iterative feedback tuning of PID parameters: comparison with classical tuning rules, Control Engineering Practice, 11 (2003) 1023–1033.

    Article  Google Scholar 

  19. K. J. Astrom and T. Hagglund, The future of PID control, Control Engineering Practice, 9 (2001) 1163–1175.

    Article  Google Scholar 

  20. G. J. Silva, A. Datta and S. P. Bhattacharyya, PI stabilization of first-order systems with time delay, Automatica, 37 (2001) 2025–2031.

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Ocean System Engineering Research Division, KIOST, Daejeon, 305-343, Korea

    Suk-Min Yoon, Sup Hong, Sung-Jea Park, Jong-Su Choi, Hyung-Woo Kim & Tae-Kyeong Yeu

Authors
  1. Suk-Min Yoon
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Sup Hong
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Sung-Jea Park
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jong-Su Choi
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Hyung-Woo Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Tae-Kyeong Yeu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Tae-Kyeong Yeu.

Additional information

Recommended by Associate Editor Sangyoon Lee

Suk Min Yoon received the B.Sc. and the M.Sc. degrees in the Department of Mechanical Engineering and Mechatronics Engineering, respectively, and he is a D.Sc student in Mechatronics Engineering from Pukyong National University, Korea. Currently, he is a researcher at KIOST (Korea Institute of Ocean Science & Technology), Korea. His fields of interest are autonomous mobile robots and multi-robot systems.

Tae Kyeong Yeu received the B.Sc. and the M.Sc. degrees in the Department of Mechanical Engineering from Pukyong National University, Korea, and the Doctor of Engineering degree in System and Information Science from Kumamoto University, Japan. Currently, he is a senior researcher at KIOST (Korea Institute of Ocean Science & Technology), Korea. His main research areas are underwater robots and the development of marine mineral resources.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Yoon, SM., Hong, S., Park, SJ. et al. Track velocity control of crawler type underwater mining robot through shallow-water test. J Mech Sci Technol 26, 3291–3298 (2012). https://doi.org/10.1007/s12206-012-0810-2

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-012-0810-2

Keywords

Search

Navigation