基于分布驱动机构的管内移动机器人转弯控制技术研究

Research on the Control Technology of Pipeline Robot in Bent Pipe for Distribute Drive Mechanism

针对三轮分布驱动管内移动机器人在弯管处的通过性问题进行了研究,提出了分布驱动协调控制方案。仿真实验证明:该方案对各驱动轮的初始速度偏大和偏小的情况均具有较好的适应性,可以迅速地使驱动电机工作在平衡状态,从而可使管内移动机器人快速顺畅地通过弯管段,提高其工作效率。

This paper researches on the pass ability of pipeline robot at bent pipe, mainly aimed at robot which has three separately driven wheels distributed around the body. In this paper, we bring out the distributed driving and harmonic control scheme. Simulation proves that this scheme has perfect adaptability in circumstance where the initial speed of every driving wheel is either too high or too low, it enables the driven motors work in balance state quickly, and causes the pipeline robot get across the bent pipe quickly and smoothly, which improves it's efficiency.