The Study On Auto Tracking Control System For Inspection Robot Used In The Submarine Pipeline

ROV means the underwater robot works with a cable. It plays an important role in the exploration of marine resources and marine facilities. ROV is powerful, flexible, easy operation, and capable of carrying a variety of sensors. The objective of this project is to develop a kind of auto line-tracking underwater robot which has the ability to detect corrosion of pipelines using the method of non-contact electric field measurement. This paper focuses on the development of line-tracking control system used in pipeline inspection robot.In this paper, we make the subsea pipeline inspection robot as the study object. We carried out the overall design of the system, the build of hardware platform, software design, creating of planar motion model, research of line-tracking adaptive PID control algorithm and performance test research. Ultimately, the ROV realize the function GPS navigation and the function auto line-tracking.Pipeline inspection robot system composed of three parts. It includes a control unit on the deck, umbilical cable and winch system and underwater ROV. Open frame structure method is used in the design process of ROV. The layout design of the overall system is based on the theoretical analysis of gravity center and buoyancy of the underwater unit, combining the understanding of the function of the system.The CPU of the auto line-tracking control system is STM32. During the design of hardware circuit we adopt the method that designs the main control board and the drive circuit board independently. The system uses USBL positioning technology to make sure the absolute position of the underwater robot, and use SMARTRAK as magnetic field detection equipment which is made in the UK Innovatum International company to connect the information of the pipeline routing. The supervisory control system is developed using VC++language. It could send control commands, display video and ROV status, data storage and so on.In this paper we also studied the line-tracking control algorithm. We designed the controller base on the research of motion model. We used rule algorithm in forward speed control. The speed is spilt into three levels:low, middle, high. The adaptive PID algorithm is used in direction controller and the parameters can be adjusted onlineFinally, mis paper describes the experimental researches in the development process. The tests include auto GPS navigation experiments, ROV move along planning path experiments, offshore auto tine-tracking simulation experiment and Dongying Kenli real auto sea pipe tube line-tracking experiments. During constantly testing and summary, the ROV realize the function GPS navigation and the function auto line-tracking. It verifies the reasonableness of the mechanical design, hardware and software structure design and the control algorithms.