The Research On Pipeline Dredging Robot Control System

The pipeline dredging robot plays an increasingly important role in pipeline cleaning and maintenance activities.It can replace the manual dredging of drainage pipes,reduce the danger of operators and increase the efficiency of dredging operations.The pipeline dredging robot motion control system,as a key part of the entire robot system,has become one of the hot topics in pipeline robot research.This paper takes pipeline dredging robot as the research object,and focuses on the motion control system of pipeline dredging robot.It is mainly divided into the following contents:Firstly,the mechanical structure of the pipeline dredging robot is analyzed.This robot is mainly composed of wheeled walking mechanism,stepping mechanism and dredging mechanism,and the power of the robot is provided by the motors placed in each part of the fuselage.According to the structural characteristics and working principle of the pipeline dredging robot,it was determined that the control requirements are that the robot can complete the dredging work of the pipeline and be able to self-adjust the movement posture while walking.That is,the control system is required to be able to realize the coordinated motion control of the pipeline dredging robot.Secondly,according to the mechanical structure and working environment of the robot,the control requirements of the robot control system are analyzed in detail.On the premise of fully considering the structure and functional characteristics of the robot,the overall scheme of the robot control system is designed.The research is carried out from the aspects of wheel drive system and detection function,and it is determined to adopt double closed loop structure to improve the control precision and anti-interference of wheel drive system.Based on this control system,the hardware system of the control system is completed,and the types of the microcontroller,various sensors,and the drive motor are determined.Then,in order to enhance the controllability and coordination of the pipeline dredging robot and improve the dredging effect,this paper studies and designs the motion control strategy of the pipeline dredging robot.Since the mechanical part of the wheel drive system is composed of three groups of walking unit,it is necessary to ensure the control performance of the single group of walking unit and the coordinated motion control of the three groups of walking unit.Combined with the characteristics of the double closed-loop drive system,a single-group walking unit drive control system based on the fuzzy PI control algorithm is designed and completed,so that the control system has good speed following and anti-interference performance,then achieves precise speed control.The deviation coupling control method is used as the synchronous motion control strategy of the three groups of walking unit,which enhances the synchronization and coordination of the three groups of walking unit.The above control system are simulated by Simulink to verify the control effect of the selected control strategy.Next,according to the hardware characteristics and control algorithms of the pipeline dredging robot,control system of the whole machine is developed.The control system is based on a modular design concept and divided into four modules,which are the main program,wheeled drive subprogram,coordinated control subprogram,and automatic control subprogram.Each subroutine is called by the main program to complete the motion control.Finally,the experiment of the pipeline dredging robot motion control system was done in this paper.Including the control system program debugging,experiment of pipeline dredging robot motion control and the coordinated motion control test of the whole machine.The experimental results show that the motion control system of the pipeline dredging robot in this subject has good control effect and meets the design requirements.