Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Design and Control of a Firefight Cannon Manipulator Applying Sliding Mode Control

  • Vu, Mai The (Department of Mechanical Engineering, KMOU) ;
  • Choi, Hyeung-Sik (Division of Mechanical and Energy System Engineering, Korea Maritime and Ocean University) ;
  • Kang, Hyeon-Seung (Department of Mechanical Engineering, KMOU) ;
  • Bae, Jae-Hyeon (Department of Mechanical Engineering, KMOU) ;
  • Joo, Moon-G. (Department of Information and Communications Eng., Pukyong National University) ;
  • Joo, Yeong-do (SMEC CO., Ltd.)
  • Received : 2015.01.26
  • Accepted : 2015.04.09
  • Published : 2015.06.30
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Abstract

This paper describes an analysis of an architecture and control system of a firefighting cannon manipulator (FCM) composed of two joint axes and one water-shooting actuator. Because the orienting FCM motion is disturbed by the reaction force from water shooting, the water shooting force has been modeled for robust control. The dynamics model of the manipulator has been set up including the external force of water-shooting reaction on the manipulator. A PD Controller and Sliding Mode Controller have been designed and their performance been tested through simulation to track a desired trajectory under the disturbance of a water-shooting reaction. The simulation shows that the performance of the Sliding Mode Controller is better than that of the PD controller.

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References

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