HEADING AND MOTION DAMPING CONTROL DEVICE OF BUFFER SYSTEM FOR DEEP-SEA MINERAL MINING, AND ITS CONTROL ALGORITHM

摘要

The present invention relates to a motion control device and method of a buffer system for deep sea mineral mining, which controls the heading direction of the buffer system so as to a reference direction error occurring between a surface vehicle and the buffer system by means of a fastening error of a lifting pipe connected by a plurality of pipes and reduces the pendulum motion of the buffer system expected upon the turning motion of the buffer system or upon the variation of the mining processing speed. According to the present invention, the motion control device of a buffer system for deep sea mineral mining includes: a heading direction sensing part sensing the heading direction of the buffer system; a determination part receiving the heading direction information of the buffer system from the heading direction sensing part and comparing the received information with a set value; a controller conducting the control for the balancing of the buffer system if an error value determined from the determination part is more than the set value; and a first driving part or a second driving part actuated to maintain the balance of the buffer system under the control of the controller, wherein either the first driving part or the second driving part is actuated or both of the first driving part and the second driving part are actuated at the same time.