Research On Motion Control And Detection Of Pipeline Internal Support Detection Robot

Pipelines are widely used in power,oil and natural gas fields,and pipeline safety plays a vital role in the normal operation of industrial production.The existing pipeline inspection and maintenance is mainly manual work,which has many disadvantages,such as heavy workload,low detection efficiency and high risk.Therefore,it is greatly significant to develop a pipeline detection robot capable of carrying detection equipment in a complex pipeline environment and completing the detection task.Aiming at the movement demand,detection demand and control demand in the pipeline environment of 250mm-350mm,this paper designs a pipeline detection robot system which can operate independently in pipeline and can carry pipeline detection equipment to detect the internal environment of pipeline.The main tasks completed are as follows:(1)General scheme of pipeline detection robot.According to the pipeline environment in the oil and natural gas field,the corresponding design requirements are analyzed,and the mobile mode of the robot is selected;a carrier mechanism composed of an adaptive supporting mechanism and a walking mechanism and a testing mechanism composed of a variable diameter support device,a magnetic leakage detection boot and a universal wheel walking device are designed.;and the control scheme of the system is determined based on the mechanical structure.(2)Motion control and performance analysis of pipeline detection robot.Based on the fuzzy control theory,a curve control strategy composed of fuzzy attitude control and fuzzy steering control is proposed for the horizontal bend environment;The effectiveness of the fuzzy control strategy is verified by the joint simulation of ADAMS and MATLAB;at the same time,the related kinematic performances of pipeline inspection robot,such as obstacle avoidance and towing capacity,are studied,and the stress analysis and simulation verification are carried out.(3)Analysis of leakage magnetic field defects based on ANSYS.The finite element method is used to analyze the leakage magnetic field signal of the defect in the pipeline;the three-dimensional model of the finite element is established in the ANSYS software;the leakage magnetic field characteristics of the crack and cylindrical defects are analyzed by simulation,and the relationship between the leakage magnetic field signal and the lift off value and the change of the two kinds of defects is obtained.(4)Test and Study on the motion and detection of a pipeline detection robot.The related program of robot control system is designed,including motor driver,sensor program and fuzzy control program;the robot test platform was built,and the test of the robot's bending control,the maximum traction test,the crossing obstacle test and the magnetic flux leakage test were carried out.the feasibility of the fuzzy control strategy,the maximum traction force,the ability to cross the barrier and the relation between the defect leakage magnetic field signal and the defect size parameter were verified.