Study On The Control System For The Drag Reduction Structure Processing Pipe Robot

With the rapid development of the energy industry, the application of oil and gas pipelinebecome more and more widely, thus the researching of the drag reduction for oil and gaspipeline has been paid more and more attention day by day. The research results of the bionicdrag reduction theory on the pipeline surface show that there will have been a very good dragreduction effect when the miniature bionic structure will be processed on the surface ofinner-pipe. Pipeline processing robot is a new kind of robot which can independent mobile inthe pipe and process the miniature bionic structure at assigned address. There is an importantsignificance to design a control system for this robot, the control system should be have highcontrol accuracy, accurate signal acquisition, reliable data transmission, convenient control,high degree of automation.According to analysis the integral structure of the robot and the specific structurecharacteristics of walk devices and processing devices, this paper established the dynamicalmodel of support structure and the traction equation of walk device. Analysis the process ofprocessing of the drag reduction groove, this paper researched the mechanical characteristicsof this process. Using the theory of gear drive, it also established the model of processingdevices and did the dynamic analysis for this model.According to analysis the control requirement, the design scheme of the master-slavecontrol system has been determined. Based on the study of the robot’s different states ofmotion, completed the walking control design of the robot’s single step walk and processingoperation. Completed the algorithm design of the robot gait planning based on studying theobjective function and constraint condition of continuous walking gait planning, which lay thefoundation for realizing intelligent robot walking function.Based on the structure and mechanical properties of the robot, established theelectromechanical control transfer function of the walking devices and processing devices.According to analyzing the characteristics of the closed-loop control system, this paperdetermined the double of speed-position closed loop control project for processing deviceand walk device. Combined with the characteristics of the PID controller and therequirements of robot control, it also studied the speed and position loop controller of thecontrol system. To prove the control ability of control system, simulated and analyzed theresponse speed and error of the control system with software of Simulink.Based on the results of the foregoing research, it has been completed the hardware circuit design of control system, the control interface design of upper computer and the controlsubroutine design of lower computer has also been completed.