雷小军, 付庄, 曹其新, 赵言正. 海底管道检测机器人自主缺陷定位的模糊控制研究[J]. 机器人, 2005, 27(3): 252-255.
引用本文: 雷小军, 付庄, 曹其新, 赵言正. 海底管道检测机器人自主缺陷定位的模糊控制研究[J]. 机器人, 2005, 27(3): 252-255.
LEI Xiaojun, FU Zhuang, CAO Qixin, ZHAO Yanzheng. Fuzzy Control of Autonomous Defect Location for Submarine In-pipeline Inspection Robots[J]. ROBOT, 2005, 27(3): 252-255.
Citation: LEI Xiaojun, FU Zhuang, CAO Qixin, ZHAO Yanzheng. Fuzzy Control of Autonomous Defect Location for Submarine In-pipeline Inspection Robots[J]. ROBOT, 2005, 27(3): 252-255.

海底管道检测机器人自主缺陷定位的模糊控制研究

Fuzzy Control of Autonomous Defect Location for Submarine In-pipeline Inspection Robots

  • 摘要: 针对全自主管道检测机器人对超长距离海底油气管道内壁缺陷的精确定位的难题,提出了一种基于缺陷信息定位的模糊控制方法,并将其应用在海底管道检测机器人的智能控制器中.仿真实验和模拟样机的现场测试证明,该智能控制器定位准确,工作稳定可靠,满足了检测机器人在超长距离海底油气管道内全自主精确定位的技术要求.

     

    Abstract: When the autonomous in-pipeline inspection robot is working in super-long submarine oil transportation pipelines, it is difficult to locate the wall-loss defect of pipelines. To solve this problem, a design method of fuzzy controller based on wall-loss defect information is presented and applied to the intelligent controller of the autonomous in-pipeline inspection robot. Through the subsequent simulation experiment and the field test of the robot prototype, the intelligent controller is proved to be reliable and stable. And it can achieve precise location, and meets the technical requirements for the inspection robots on accurate defect location of super-long submarine oil transportation pipelines.

     

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