城市地下管道检测机器人反演控制与运动系统设计

发布时间：2018-05-25 17:26

本文选题：城市地下管道 + 检测机器人　；参考：《湖北工业大学》2017年硕士论文

【摘要】：城市地下管线由于数量巨大、种类繁多、新旧层次突出,使得对其进行探测、定位以及维修等工作的难度极大,对我国“十三五”城市地下管廊建设和城镇化的迅速发展造成了极大程度上的阻碍。因此,研发一套城市地下管道机器人来替代人工作业,来降低检测人员的工作强度,提高工作过程中的检测效率,对管道的快速检测、及时疏通和实时维护等方面具有十分重大的意义和广阔的工程应用前景。本学位论文针对城市地下管道检测机器人系统研发过程中所面临的运动轨迹跟踪、打滑等实际工程问题展开研究,主要内容包括:首先,基于本学位论文所需解决的控制问题,介绍了反演控制方法的基本概念,对管道机器人运动学与动力学两方面进行分析,建立管道机器人运动系统和动力系统反演控制模型,通过分别预设直线轨迹和“S”形路径,对机器人在管道内运动的轨迹进行了跟踪仿真。结果表明,基于反演控制方法设计的控制器在完成管道机器人轨迹跟踪方面较好的效果,并能很好地实现实时纠偏功能。其次,研究了管道小车在管壁上行进时出现打滑现象。在讨论管道机器人不同工况下拖缆力与拖缆距离、拖缆速度、缆线与地面接触的摩擦系数之间关系的基础上,建立基于滑转率的管道机器人动力学模型,模拟实际工况条件,研究了管道机器人轮地作用过程中发生打滑的机理,能为检测过程中出现的机器人打滑问题提供解决方案。最后,结合地下管道系统技术指标要求,再基于其反演控制法设计的控制器,得到了管道样机的运动系统设计思路,完成样机的本体结构和控制系统研发,并最终完成了实验样机研制。通过机器人寻迹和牵拉实验,验证了反演运动控制方法的有效性和机器人带缆线负载运行的稳定性。
[Abstract]:Due to the large number of urban underground pipelines, various types and outstanding new and old levels, it is very difficult to detect, locate and maintain the underground pipelines. It has greatly hindered the construction of underground pipe corridor and the rapid development of urbanization in the Thirteenth Five-Year Plan of China. Therefore, to develop a set of urban underground pipeline robot instead of manual work, to reduce the work intensity of the inspectors, improve the detection efficiency in the work process, and the rapid detection of pipelines, Timely dredging and real-time maintenance have great significance and broad engineering application prospect. This dissertation focuses on the actual engineering problems such as track tracking, skid and other practical engineering problems in the research and development of urban underground pipeline detection robot system. The main contents include: firstly, based on the control problems that need to be solved in this thesis, This paper introduces the basic concept of inverse control method, analyzes the kinematics and dynamics of pipeline robot, establishes the inverse control model of pipeline robot motion system and dynamic system, and sets up the linear trajectory and "S" path respectively. The trajectory of the robot in the pipeline is tracked and simulated. The results show that the controller designed based on the inverse control method is effective in completing the trajectory tracking of the pipeline robot and can achieve the function of correcting the deviation in real time. Secondly, the slippage phenomenon of the pipeline car is studied when it travels on the pipe wall. On the basis of discussing the relationship between the cable force and the distance of towing cable, the speed of towing cable, the friction coefficient between cable line and ground contact under different working conditions of pipeline robot, a dynamic model of pipeline robot based on slip rate is established, and the actual operating conditions are simulated. The mechanism of slippage occurred in the course of wheel-ground action of pipeline robot is studied, which can provide a solution to the problem of robot skid in the detection process. Finally, according to the technical requirements of underground pipeline system, and then based on the controller designed by its inversion control method, the motion system design idea of pipeline prototype is obtained, and the prototype body structure and control system research and development are completed. Finally, the experimental prototype is developed. The effectiveness of the inverse motion control method and the stability of the robot with cable load are verified by the robot tracing and pulling experiments.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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