Fuzzy theory based control method for an in-pipe robot to move in variable resistance environment
Fuzzy theory based control method for an in-pipe robot to move in variable resistance environment
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DOI：
10.3901/cjme.2015.0717.096
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发表时间：
2015-10
影响因子：
4.2
通讯作者：
Te Li;Shugen Ma;Bin Li;Minghui Wang;Yuechao Wang
中科院分区：
文献类型：
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作者：
Te Li;Shugen Ma;Bin Li;Minghui Wang;Yuechao Wang
现有的螺旋传动管道机器人大多不能主动调节最大牵引能力，这限制了其对大范围可变环境阻力的适应能力，特别是在弯曲管道中。为了解决这一问题，提出了一种基于自适应连杆机构的螺旋传动管道机器人。该自适应连杆机构的微分特性使机器人能够通过自适应调节滚子的倾角，在直线和各种弯曲管道中无运动干扰地运动。通过主动调节滚轮的倾角，可以改变机器人的最大牵引能力。为了提高对变电阻的适应性，提出了一种基于模糊控制器的转矩控制方法。对于可变的环境阻力，所提出的控制方法既能保证足够的牵引力，又能将输出转矩限制在可行范围内。在仿真中，将该控制方法与固定滚子倾角的机器人进行了比较。结果表明，将转矩控制方法与所提出的机器人相结合，可以较好地适应直线和弯曲管道中的可变阻力。
Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.