Research On Pipeline Traction Robot

At present,the oil and gas pipeline maintenance equipment generally takes the transmission medium in the pipeline as the power source for in-line operation,which is difficult to meet the maintenance needs of fixed-point maintenance of the pipeline and no fluid transmission.There are problems that it is difficult to perform the internal detection before the new pipeline is put into operation and when the pipeline has no receiver and launcher.Therefore,this paper designs a long-distance pipeline traction robot with battery as the power source,which can be applied to the oil and gas pipeline with a diameter of 508 mm.The robot can travel autonomously for a long distance in the pipeline,and has the ability of weld recognition,mileage recording and providing large traction.The main research contents are as follows:(1)According to the design index and by comparing the advantages and disadvantages of different power supply modes and driving modes,the overall design scheme of pipeline traction robot using battery power supply,wheel hub motor drive and supporting wheel elastic pressurization is determined;The detailed design of each system structure of the traction robot is completed,and the key parts are analyzed by finite element method.(2)According to the performance design index and actual working environment of pipeline traction robot,the selection of controller chip and the hardware design scheme of control circuit of pipeline traction robot are completed;According to the actual work flow of pipeline robot,the control software is designed in detail,and the control logic of the control software is described in detail in the form of flow chart.(3)By establishing fuzzy PID,Kalman filter and data fusion algorithm,this paper realizes the functions of autonomous motion control,weld recognition and accurate positioning of mileage wheel of pipeline traction robot.Through the explanation of the working principle of fuzzy PID,it provides theoretical support for the control of Brushless DC motor.Then,by introducing the working principle of Kalman filter,a solution to eliminate the vibration and noise of pipeline robot is proposed.Finally,through the interpretation of the data fusion algorithm,it provides theoretical support for eliminating the problem of mileage wheel slip and random error.(4)Using Simulink simulation,the control effects of fuzzy PID and classical PID on motor speed are compared.The filtering effects of Kalman filter and mean filter on the vibration and noise of eddy current sensor and the correction effect of data fusion algorithm on the error of mileage wheel are verified by experimental means.It is proved that the selected algorithm can significantly improve the comprehensive performance of each module of the robot.