管道机器人推进装置的支撑腿压力稳定性控制方法

Pressure Stability Control of Supporting Legsof Pipeline Robot Propulsion Device

目的 提出一种基于模糊PID的压力控制方法,以提高管道机器人推进装置工作稳定性,增强机器人的协调性和可控性。方法 通过分析推进装置的工作原理及控制需求,设计支撑腿压力稳定控制方案,并在Simulink平台进行压力稳定控制的建模与仿真;对该控制系统进行硬件配置及软件设计,并进行支撑腿压力稳定控制实验。结果 在引入模糊控制方法后,系统调节时间缩短了14.2%,并且抗干扰能力明显提升;实验结果表明:在引入模糊控制方法后,压力波动幅度减少了81.6%,系统稳态性能明显提高。结论 基于模糊PID算法的压力控制策略提高了支撑腿压力的稳定性,笔者所设计的压力稳定控制系统可满足控制要求。

In order to improve the working stability of the propulsion device of pipeline robot and enhance the coordination and controllability of the robot,a pressure control strategy based on fuzzy PID was proposed.By analyzing the operating principle and control requirements of the propulsion device,the pressure stability control scheme of the support leg was designed,and the modeling and simulation of the pressure stability control were carried out on the Simulink platform;and the hardware configuration and software design of the control system were carried out,and then the pressure stability control experiment of the support leg was completed.The simulation results show that after introducing the fuzzy control method,the adjustment time of the system was shortened by 14.2%,and the antiinterference ability was significantly improved;The experimental results show that after introducing the fuzzy control method,the pressure fluctuation amplitude was reduced by 81.6%,and the steady-state performance of the system was significantly improved.The pressure control strategy based on Fuzzy PID algorithm improves the stability of support leg pressure.The pressure stability control system designed by the author can meet the control requirements.