Research On Adaptive Motion Control Of Oil And Gas Pipeline Robot

The motion control of the robot is the focus of the robot design,The accuracy of robot motion and adaptability to abrupt road conditions depends on the performance of the controller and control algorithm.However,the current simple control system cannot meet its control requirements in pipelines unknown to the internal environment and complex structure.In order to improve the stability of the movement of the pipeline robot inside the pipeline,this paper combines the research of domestic and foreign scholars on motion control,proposes a PID controller optimized based on fuzzy algorithm and RBF neural network,and tests the motion performance of the robot.The main tasks to be completed are as follows:(1)Overall frame and system design of the pipeline robot.Based on the actual robot structure,a three-dimensional model of the pipeline robot is established.According to the structure and application scenarios of the robot,the resistance of the pipeline robot is analyzed,and the motion control card,development board main control chip and drive motor in the crawler robot main control system are selected,and the crawler robot is analyzed.The principle of motion control.(2)Simulation study of motion control of pipeline robot.According to the actual robot structure to establish a robot kinematics model,proposed a PID controller based on RBF fuzzy neural network optimization(IP-PID controller),fuzzy reasoning itself does not have the ability to learn reasoning,must have a wealth of expert experience to be able to be relatively close to the expected value,and the neural network has a relatively strong adaptive learning ability.Using the RBF neural network can help the fuzzy control to learn,and accelerates the learning process of the algorithm,on this basis to add PID control,improve the robot self-tuning ability.(3)Performance analysis of motion control of pipeline robot.Using Simulink simulation tool for simulation analysis,it is concluded that the IP-PID control overshoot is small,the disturbance interference on stability is small,and the system can be restored to stability in a shorter period of time and has good tracking performance.(4)In-tube motion performance analysis of pipeline robots.The mechanism adaptability of the pipeline robot is analyzed,and the operation of the pipeline robot inside the U-shaped pipe is analyzed by using ADAMS dynamic simulation software.The displacement,velocity,contact force and torque of the pipeline robot were quantitatively analyzed.The simulation results show that the robot can perform continuous turning motion smoothly.Finally,in-tube experiments were carried out on the robot to verify the reliability of the simulation results.