节点文献
非等径垂直管道机器人控制系统研究
Research on Inpipe Robot in the Vertical Pipeline with Variant Diameter and Its Control System
【作者】 郭文利；
【导师】 毛立民；
【作者基本信息】 东华大学 ， 机械电子工程， 2010， 硕士
【摘要】 管道机器人的研究有着广泛的应用前景和社会需求,可以应用于石油、天然气、化工、核工业、楼宇等管道。因此,研究在非结构环境下,具有运行平稳、适应性强等特点的管道机器人具有重要的意义和研究价值。首先,针对管道机器人管内运动力学的有关问题进行了详细的分析研究,包括机器人的管内运动阻力、管径主动适应、牵引力与径向调节运动控制及电机选用等问题其次,结合机器人功能需求、机械系统特性和控制系统可行性分析,确定了基于“PC+DSP运动控制板+驱动器”的开放式控制系统总体设计方案。它将控制系统的规划+伺服闭环+放大器有层次、模块化地体现出来,在决策规划、任务分级控制、实时性等方面优势明显。根据控制系统的整体架构,设计了机器人控制系统的硬件平台,包括控制部件的选型和底层控制系统电路设计,并提出了模块化的软件设计思想,完成了上位机控制决策软件、DSP运动控制软件及RS485通信流程设计。针对机器人在管道中的弯道通过及其控制问题,在基于机器人在转弯过程中的阻力负载特性分析的基础上,提出了独立协调转弯的控制策略。最后,对管道机器人系统进行了相关实验,实验结果证明了机器人的硬件系统和软件系统的有效性,同时验证了管道机器人的各项运行指标基本达到任务要求。
【Abstract】 The studies of in-pipe robots have broad application fields and social needs.In-pipe robots can be used to oil, gas, chemical, nuclear plant, building and so on. For this reason, research of mobile robots under unstructured environment which have the characteristics of running smoothly, and adaption has great significance and research values.First, some topics of in-pipe kinetic character of pipelinerobot are analyzed and discussed deeply, including its in-pipe moving resistant, radial adjusting capability.Then Considering robot function, mechanical characteristic and control system feasibility analysis, open control system general design scheme based on PC+DSP motion control board+motion driver is confirmed. It reveals the control system in aspects of planning, servo closed loop control and amplifier in a hierarchical and modular way, and has obvious advantages on strategy-making, hierarchically assignment-controlling and real-time performance.Hardware platform is designed according to hierarchical control characteristic, including selecting control unit and designing base control system circuit.Meanwhile, design ideas of modularized software is proposed, control strategy software of PC, motion control software and RS485 communication process of DSP are designed successfully.Aiming at the robot passing through elbow pipe steering control in pipeline,Based on the analysis of resistance load characteristics,the specifics of robot independent coordinated motion control strategy in typical arc elbow pipe is presented.Finally we make experiments of the mobile robot. The experiments prove that the hardware and software is competent for the robot and the mobile robot can fill for the request of the design.