Research Of Drive And Control System For Pipeline Cleaning Robot

According to relevant materials, most of drainage pipelines in china need the staff to clean up. The work not only affects the health of the staff seriously, but also it doesn't match the development of automation level. According to development situation of the dredging robot, a new kind of type pipeline dredging robot is proposed. The robot's driving system, control system and wireless communication are studied and designed based on its working principle.Traction type pipeline dredging robot walks by four wheels, which the two rear wheels is driven by two motors independently. This paper completed the design of circuit. Fuzzy control and PID control algorithm are analyzed and realize the speed control of the two brushless dc motors.It is proposed that electronic differential bases on mechanical differential. Mathematical model of mechanical differential is established through the analysis of its principle. The electronic differential algorithm is established on the basis of the mathematical model, realizes the “adaptive” electronic differential and improves the performance of the robot's motion.According to the requirement, control scheme and device selection are completed during the research of robot's motion control system. The circuit of electric cylinder and stepper motor controlling and software are designed in accordance with the working process of dredging robot.Dredging robot uses Zig Bee technology as the communicating system realizing data interaction. In this way, stability of communication is improved highly compared with point-to-point communicating mode. What's more, it designs communication protocol and signal acquisition module.Finally, the experimental research is conducted on all modules. The results show that system has reached the requirement of design.