Research On Speed Control Technology Of Pipeline Inner Detector

Pipeline detection is one of the important technologies to ensure the safe operation of the pipeline.The stable operating speed of the inner detector is an important condition to assure the accuracy of the detection and the validity of the data,but the domestic and foreign research on the speed control of the inner detector is not perfect,so it has important theoretical and practical significance to carry out the research on the speed control technology of pipeline corrosion.At present,the detector control technology of speed research mainly carries on the numerical calculation in the pipeline fluid state and carried out on modeling analysis of the detector,and for speed control plan design research is rarely.In this paper,it built a pressure-speed model by the pressure gradient equation based on the study of the relationship between the pressure and the velocity of the pipeline detector;then according to the equation of motion,the mechanism of controlling the opening degree of the discharge device is studied,and the driving force and the frictional resistance of the inner detector are analyzed emphatically.The model is validated by means of the inner detector speed control experiment device to verify the two models.According to the characteristics of the nonlinear model of speed control,using the method of Sobhanni-Rafeeyan within the detector velocity model is transformed to an equivalent linear object model,and its validity has been verified by;according to the characteristic of control system lag,respectively,using Dahlin algorithm and Smith prediction algorithm and fuzzy control is used to simulate the model.In this paper,the pressure-speed model and the opening velocity model of the discharge device are obtained by analyzing the mechanism of the inner detector in the pipeline,determining the validity of the two models,and analyzing the nonlinear and hysteresis characteristics of the model,then SR method is used to simplify the model,and the controller is designed by using the Dalin algorithm,Smith estimation algorithm and fuzzy control.The simulation results show that the designed controller can control the speed of the inner detector in the appropriate range under different conditions.