Research On Motion Control Method Of Underwater Robot In Tunnel Based On Fuzzy Sliding Mode Control

Wuhan East Lake deep tunnel project is the first urban deep sewage transmission tunnel in China and an important part of Wuhan municipal drainage system.Wuhan East Lake needs regular pipeline safety inspection.Due to the large length of the pipeline,the harsh environment in the tunnel and the inability to interrupt the sewage transportation,the manual launching detection is highly dangerous.Therefore,there is an urgent need for an underwater robot specially used for the detection of sewage tunnel.The tunnel robot is designed to detect the possible cracks,damages and siltation in the sewage tunnel.If the tunnel robot wants to run stably,it needs to develop an appropriate control system to strictly control the motion attitude and trajectory error.In this paper,the control system of Wuhan East Lake deep detection robot is studied,the influence of the special environment of the deep pipeline is fully considered,and the motion trajectory controller of the deep robot is designed according to the design index of Wuhan East Lake deep pipeline robotFirstly,the working environment and performance requirements of Wuhan East Lake deep robot are analyzed,and the relevant products at home and abroad are studied and compared.According to the actual conditions and requirements of Wuhan East Lake deep robot,the force of the deep robot in the pipeline is analyzed,and the deep robot model suitable for Wuhan East Lake pipeline is established.Then,the underwater vehicle model based on the deep pipeline environment of Wuhan East Lake is simulated to compare the advantages and disadvantages of different algorithms.The motion control algorithm is designed on the premise of meeting the design index,select a relatively simplified motion control algorithm to reduce the burden on the control board.Therefore,the classical PID control algorithm is studied.The simulation results based on Wuhan pipeline model show that the control algorithm has a certain follow-up effect,but there is still a gap with the design requirements;Then the synovial controller of the deep pipeline robot is designed and verified by MATLAB again.The results show that the design index is basically met,but the chattering problem of sliding mode control is very serious,resulting in serious error angle overshoot.Therefore,the idea of fuzzy control theory is used to solve this problem.A fuzzy sliding mode control method with fuzzy logic on-line adjustment sliding mode control is designed.Control the trajectory tracking of deep pipeline robot.Secondly,plan the deep robot as a whole,The control system of the deep pipeline robot is designed,the motor drive of the pipeline robot is studied,and a complete drive process is built to prepare for the next development of Wuhan East Lake pipeline robot.Finally,according to the existing conditions,the control algorithm of Wuhan East Lake pipeline robot is built for simulation verification.Build an equal scale prototype to verify the effectiveness of the control algorithm.After actual measurement,the pipeline robot designed in this paper can meet the design index of the robot.The effectiveness of the control algorithm is proved.