Design And Research For The Control System Of Mobile Pipe Robot

In the modern world, people can always come in contact with all kinds of facilities of pipelines beside them. However, many pipeline systems are either held in the air or buried deeply underground. So it is very inconvenient to detect the inside of the pipelines by manpower. Carrying a CCD camera, The mobile pipe robot that is designed in the paper can detect the intine of the pipelines with particular diameter. The robot really has utility value.At first, the development of pipe robot technique is overviewed in the thesis domestically and abroad. The scheme of structure design is put forward for the moveable pipe robot. The design of driving-gear and platform system is introduced in detail.The control pattern of using master computer and slaver computer is adopted for the robot. Fiber optics communication that is advanced domestically at present is used to transmit control signal and image signal come from CCD camera. LPC2114 is used to be kernel processor in slaver computer. Many circuits are designed in the paper, including drive circuit and control circuit of brushless DC moter proceecor and stepper motor, RS232 serial port communication circuit and some aided circuits of the control system. In respect of software, control software of slaver computer is designed, using ADS1.2 as compiler and using assembler language and C language as programming languages.In order to improve the control precision of the robot control system and satisfy much higher control requirement, a kind of improved integral separated PID algorithm is used to design the drive of the DC motor, which can make the robot walk in the more complex environment. At the same time, in order to establish the base for later research the adaptive fuzzy control for brushless DC motor is studied.Some experiments of the moveable pipe robot prototype are performed at last. The performance of the robot prototype is analysed. The results of the experiments verify the anticipatory destination, and they also point out the place that need to be improved in further research.