Study On The Motion Control Strategy Of The Compound Driving In-pipe Robot Based On Consunmption Optimization

Pipeline robots have been widely used in the field of pipeline engineering because they can directly enter the inside of the pipeline and efficiently and accurately complete pipeline fault diagnosis,detection and maintenance.However,the problem of energy supply and drive control has always limited the effective working range of pipeline robots.Especially for the detection of long-distance oil and gas pipelines,the pipeline robots with the advantages of strong endurance,excellent driving characteristics and strong adaptability of pipeline working conditions are waiting for further research by more scholars.Based on the National Natural Science Foundation project " Research on the Design Method and Motion Characteristics of In-Robot Composite Drive Mechanism"(No.51475115),the mechanism design of the compound driving in-pipe robot was completed,and the driving energy consumption of the robot was explored.Furthermore,the motion control strategy of the robot was developed according to the pipeline inspection conditions,and the experimental research on the prototype of the robot in the composite drive tube was studied.In this thesis,the influencing factors and testing requirements of the driving energy consumption of the robot are analyzed,and the low-energy compound driving mechanism of the in-pipe robot is studied.Then,the configuration selection of the robot is evaluated by using the improved fuzzy hierarchy method,thus the mechanism design of the driving system of the in-pipe robot with the compound driving is completed;The driving force of the robot fluid drive unit and the motor drive unit was studied,and the fluid drive unit speed control scheme and the drive wheel closing force model were established.The motion simulation analysis was carried out on the working principle of the switching mechanism.The simulation results showed that the designed switching mechanism having the ability of switching between fluid and motor drive modes.According to the requirements of robot detection conditions,the drive speed regulation model under rapid walking conditions and speed reduction transient conditions is established.The braking torque of DC motor in the phase transition phase is analyzed and the design of DC motor braking mode control system and the strategy of robot speed reduction regulation are completed.What's more,the braking torque of DC motor in the phase transition phase is analyzed.Based on this,the design of DC motor braking mode control system and the strategy of robot speed reduction regulation are completed.Based on the established composite drive speed control mode and drive energy consumption control model,the effect of component parameters on motor drive energy consumption is analyzed by using MATLAB and ADAMS co-simulation,and the energy consumption of composite drive under three driving conditions is studied.Through the prototype test research,it is verified that the composite drive mode with the adjustable fluid drive force has certain advantages in reducing drive energy consumption and improving energy utilization.