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A Design Method of Sliding Mode Optimal Controller for Worm Pipeline Robot

A pipeline robot and design method technology, applied in the field of robotics, can solve the problems of no feedback control, difficult to obtain control signals, and difficult to specify sliding surface, etc., to achieve low input energy consumption, high tracking accuracy, good control quality and optimization performance effect

Active Publication Date: 2022-04-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[3] studied an origami-based earthworm-like mobile robot without feedback control
If the controlled system is complex and has strong nonlinearity, such as the worm motion system of an in-pipe robot, it is difficult to specify a suitable sliding surface and obtain an effective control signal

Method used

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  • A Design Method of Sliding Mode Optimal Controller for Worm Pipeline Robot
  • A Design Method of Sliding Mode Optimal Controller for Worm Pipeline Robot

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Experimental program
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Effect test

Embodiment

[0197] Consider a worm pipeline robot with relevant parameters as shown in Table 1.

[0198] The total simulation time is 10 seconds, and the expected speed Assume that uncertainty starts to appear from the 10th second, where ΔA=0.1×A, ΔB=0.2×B, ΔB fr =-0.1×B fr ,

[0199] Simulation results such as Figure 4 —9 and Table 2, Table 3.

[0200] Table 1 Parameters related to the worm pipeline robot

[0201]

[0202] During the optimization process, the parameters in GWO were chosen as: 12 gray wolves in the wolf pack, the maximum number of iterations was 20, the archive size was 5, [k,ε,p 1 ,p 2 ,p 3 ] are [0,0, -1×120, -3×120, -5×120] and [30100, -1×90, -3×90, -5×90] respectively.

[0203] Figure 4 In the GWO optimization process, one of the iterative optimization results. From Figure 4 As can be seen, there are two possible prey locations. That is, the user can choose a satisfactory [k, ε, p 1 ,p 2 ,p 3 ]. Here, we choose [k,ε,p 1 ,p 2 ,p 3 ],As shown...

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Abstract

The invention discloses a sliding mode optimization controller design method for a worm pipeline robot, which comprises the following steps: (1) firstly analyzing the force of the worm pipeline robot; (2) constructing an uncertain state space model of the worm pipeline robot, and designing Sliding mode surface, according to the sliding mode control theory, design a sliding mode control law with a disturbance estimator; (3) design a sliding mode optimal controller for the worm pipeline robot, and use the gray wolf optimization algorithm to realize the multi-objective optimal control of the worm pipeline robot . Aiming at the tracking control problem of the worm pipeline robot, the invention designs a sliding mode optimization controller for the worm pipeline robot by considering the influence of uncertainty on the system, and realizes the robust tracking control and multi-objective optimization of the worm pipeline robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a sliding mode optimization controller design method for a worm pipeline robot. Background technique [0002] Robotics is currently a thriving field in engineering, playing an important role in various fields such as the inspection of cables or piping systems. Pipeline robot is an effective tool to ensure the safe and smooth operation of oil and gas industry, power plants and other industries. They can also be used in aerospace industry pipeline mapping, pipeline internal surface flaw detection, pipeline cleaning and repair, etc. [0003] Pipe robots can be divided into wheels, screws, legs, and crawling (snake and worm) according to their structure. The crawling robot has the largest contact area with the inner wall of the pipeline, which can effectively use the friction force. In this case, the vibrations not only provide propulsion, but also provide an additional...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 肖玲斐黄欣浩孟祥硕陈勇兴
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS