Research On Pipeline Robot Control Of Fault-Tolerant

With the rapid development of economy, pipeline transportation has become anindispensable part of people’s life. The presence of the pipeline robot opened up a newpath of pipeline detection: robots do some simple repair damaged parts instead of peoplein inconvenient and dangerous pipeline detection. Robot could not have been broken, dueto the nature of the pipeline itself that people can not directly manipulate on. It puts higherrequirements on robot system: When the robot has broken down, it needs a rapid detectionand repair to improve system stability.The accurate mathematical model of pipeline robot is difficult to establish, for thesystems are usually nonlinear, based different functions need to build different models.Robots instead of people to perform some dangerous detection and fault repair work couldbe affected by the interference of the external environment and change system parameters,reducing the performance of the system. The robot system was destroyed would influenceits application performance, even worse could completely stop running. The task failed tobe completed and robot itself will be as a fault putting brake on pipeline circulation.Papers focus on the fault-tolerant control of self-healing function when the robots fallinto break. Analyze the mechanical structure of the pipeline robot and establish thedynamic model and kinematics model with sensors and actuators to diagnose faulty partsachieving rapid positioning. When the robot driven can’t stay stable operation by theinterference, through the fuzzy controllers collect the robot velocity error and thevariation of the velocity error data, realizing the online parameters setting and making itsrestore stable operation to achieve the fault tolerant control of DC motor function. Whenpipe robot gets the outside interference and can not according to the original track runs,through iterative neural network to restructure the system, returning back to the originaltrajectory. After a failure occur deviation, the robot could be able to quickly return topreviously running orbit and make a fault-tolerant control effect.In practical applications, robot fault-tolerant control are not only improvingefficiency, but reducing repair costs and improving people’s lives. Enhanced intelligentfault-tolerant control of robot learning is the inevitable trend of social development.