Research On Adaptive Control Of Dredging Robot Based On Electromechanical Co-simulation

With the rapid economic growth,town expansion,and the increasing drainage,the pipeline siltation has occurred frequently.The pipeline dredging robot is becoming more and more important because of its safety and pollution-free,and it can replace the personnel to complete the dredging work and can effectively prevent people from being hurt.The more intelligent,energy-saving and efficient pipeline dredging robots have always been the research goals of developers.Therefore,it is very important to design the mechanical structure and control system reasonably.The pipeline dredging robot can not only meet the requirements of dredging work but also effectively avoid energy waste by controling the speed of it reasonably.The control system of pipeline dredging robot can carry out the speed adaptive adjustment based on the environment of the pipeline by researching on the adaptive control of it.The pipeline dredging robot which was designed by the research group was the object of this article.,the speed adaptive control system of the pipeline dredging robot was researched based on the electromechanical co-simulation platform,which was mainly divided into the following contents:Firstly,the adaptive control theory and theoretical foundation of the electromechanical cosimulation and the operating condition of the dredging robot were analytical investigated,which provides a reasonable basis for the determination of the working condition classification in the following article.The superiority and the purpose of the two software in co-simulation were expounded;in order to confirm the dereding environment and the working methods of the pipeline robot,the source,characteristics of movement and ways of clean up of the sediment in the pipeline were assayed;The speed range of the robot during operation can be preliminarily determined by its structural characteristics and performance indexes.Since the amount of sludge contained in the dredging environment has a large changing range,in order to achieve the purpose of completing the speed control of the robot more efficiently,the operating condition were classified according to the amount of sludge contained and further confirming of the speed range for each working condition.For the sake of obtaining the effect of the speed of the dredging mechanism on the fluid,ANSYS Workbench software was used to conduct a fluid-solid coupler simulation study.The moving and rotating speed of the dredging mechanism,and the flow rate of fluid were set up Preliminarily;The dredging mechanism was analyzed by finite element method,and the fluidsolid coupler simulation was applied to get the state diagram of the fluid movement under difference in conditions.Within the set speed range of dredging mechanism,the machine can achieve the desired results,the rationality of this speed range was verified after comparative analysis.In order to improve the adaptive ability of the pipeline dredging robot control system to the environment,a working method of automatically assigning its working speed according to the torque sensor which detected the load torque value of the dredging device was proposed.The speed adaptation of the robot was realidzed by the method.The dredging effect was determined by the speed of the dredging device,and the working time was determined by the speed of the walking device,it was very important that the two is allocated reasonablely.In order to achieve effective dredging and avoid energy waste,an energy consumption model with the two speed parameters as independent variables was established;The genetic algorithm was used on Matlab,the smallest non-negative value of the mathematical model was used as its objective function to search for the optimal speed combination under each working condition,and the speed optimization was realized.The research of the adaptive control of the pipeline dredging robot was studied based on the co-simulation.The running status of the three-dimensional mechanism in real time was monitored and the control effects of different control algorithms was analyzed on the LabVIEW platform by co-simulation.Firstly,the software LabVIEW and SolidWorks were combined by NI Soft Motion to compelte the establishment of the electromechanical co-simulation basic platform;Then,the PID controller,the fuzzy controller,and the adaptive controller were programmed in the back panel of LabVIEW,and the display module was built on the front panel;finally,a co-simulation test was conducted,and the speed adaptive control was realized on the simulation platform;during the simulation experiment,the control curve and the motion and speed curve of the three-dimensional mechanism could be monitored on the control interface;After the end of the simulation test,the fuzzy PID control algorithm is better than the ordinary PID control algorithm through the comparative analysis of the experimental data,and it has more advantages in the speed response time and speed stability of the speed regulation.In the final,the pipe dredging robot was tested to verify the availability of the speed adaptive control system.The adaptive control system plan of the robot was designed and the selection of software and hardware were carried out at the beginning;then the program were wrote through C language,and the program were load into the core controller through the downloader;Finally an overall experimental platform for experimentation was built The experimental results show that the robot speed adaptive control system proposed in this paper has a good control effect,meets the preset expectations,can able to achieve speed adaptation,and provides an idea for improving the intelligent control of robots;Through extracting,handling and analyzing the resulting data,it is confirmed that the fuzzy PID has more stable speed control than the traditional PID.