A two-core six-axis crawler natural gas pipeline robot control system

Abstract

The invention discloses a two-core and six-axis caterpillar type natural gas pipeline robot control system. A double-core controller is adopted as a controller and comprises an ARM and a DSP which are in communication connection. The ARM sends out a first control signal, a second control signal, a third control signal, a fourth control signal, a fifth control signal and a sixth control signal to control signal synthesis of a permanent magnet synchronous motor X, a permanent magnet synchronous motor Y, a permanent magnet synchronous motor Z, a permanent magnet synchronous motor R, a permanent magnet synchronous motor U and a permanent magnet synchronous motor W, and then movement of a pipeline robot is controlled. In this way, the brand new double-core control mode based the ARM and the DSP is autonomously developed, the ARM is liberated from complex work, real-time control of a six-axis three-phase permanent magnet synchronous motor is achieved, interruption of the DSP is responded to, and data communication and storage of real-time signals are achieved.

Description

technical field [0001] The invention relates to the field of large-scale pipeline robots, in particular to a two-core six-axis crawler-type natural gas pipeline robot control system. Background technique [0002] The transmission medium of natural gas pipelines is flammable and explosive substances. The impurities contained in the medium, such as hydrogen sulfide, carbon dioxide, free water, dust, etc., make the laid pipelines in internal and external corrosion conditions, and sometimes even internal blockages occur. Coupled with factors such as environmental, geological, meteorological and hydrological disasters, pipe material and design defects, operational errors and even man-made sabotage, the safety of pipelines is threatened by many factors. [0003] On June 4, 1989, a gas pipeline in the former Soviet Union leaked. When two opposite trains passed on the railway line 1 km away from the leak point, the sparks generated by the friction of the trains caused the leaked nat...

AI Technical Summary

Problems solved by technology

[0014] (1) Affected by the control technology, all pipeline robots use single-core controllers. The computing power of the controllers is weak. The pipeline robots cannot quickly process the real-time environment, and the walking speed of the robots is low, and the inspection pipeline speed is slow and stable. poor sex;

[0015] (2) For the energy carried by the pipeline robot driven by the motor, rechargeable batteries are used. These batteries are all connected in series and parallel to form a high-voltage and high-current energy system. There is no protection circuit, and the service life is short. Abnormalities often occur and even interfere with the work of pipeline robots;

[0016] (3) For pipeline robots driven by stepping motors or DC motors, due to the influence of the motor's own efficiency, the energy utilization rate is low, resulting in a short moving distance of the robot in the pipeline;

[0017] (4) For pipeline robots driven by stepping motors or DC motors, affected by the power density of the motors, due to the large volume of the motors used, the robot is eventually larger in size and heavier in weight, which seriously affects The scope of use of pipeline robots;

[0018] (5) The self-adjustment ability of the pipeline robot's motion state is poor. Affected by the control method, the robot's attitude parameter recognition in the pipeline is poor. Sometimes the car will overturn, causing the mission to fail;

[0019] (6) For blocked natural gas pipelines, ordinary wheeled robots have a small contact area with the ground, and their ability to overcome obstacles is weak, and sometimes they cannot even overcome obstacles, and ultimately cannot complete the inspection task;

[0020] (7) For the pipeline robot driven by four-wheel power, the power adjustment ability of the robot is improved compared with the two-wheel power drive, which can meet the acceleration of the pipeline robot under simple working conditions. However, when encountering a pipeline with a certain slope, the demand The power is relatively large. Under such conditions, the required power cannot be met, which reduces the dynamic performance of the system;

[0021] (8) The measured value of a single three-axis gyroscope will drift with time. After a long time of work, the three-axis gyroscope will accumulate additional errors, which will eventually cause the pipeline robot to lose its position in the pipeline.

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