基于模糊控制的高炉煤气管道类型判别研究

Recognition of Types of Blast Furnace Gas Pipelines Based on Fuzzy Control

高炉煤气管道管网复杂,检测机器人在其中自主行进时,除了直管外,还常常会遇到L型管或T型管。如果此时机器人不能提前获知,仍按直管的运动方式前进往往会导致机器人搁浅。为了实现机器人对高炉煤气管道类型的预判,该项研究确定了识别传感器的类型和布置方案。对机器人通过L型管和T型管时传感器所收集数据的分析得出了模糊控制的论域,并根据实际情况确定了模糊子集的分布和模糊规则。经实验数据对比得出,该算法对管道类型的判别具有较高的准确性。

The layout of blast furnace gas pipe network is complex.When the detecting robot moves autonomously therein,it often encounters L or T tubes in addition to straight tubes.If the robot could not be informed in advance,it will get stranded by keeping moving straight forward.In order to realize the early recognition of types of the blast furnace gas pipelines by robots,the types and arrangement scheme of the sensor were determined.The domain of fuzzy control was obtained by analyzing the data collected by sensors passing through elbow of pipelines,and fuzzy distribution and fuzzy rules were determined according to the actual situation.The results show that the algorithm has higher accuracy for the early recognition of pipeline types.