管道封堵机器人减速制动系统控制响应分析

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振动与冲击 ›› 2025, Vol. 44 ›› Issue (9) : 179-187.

振动与机械科学

管道封堵机器人减速制动系统控制响应分析

唐洋*1，皮云森1，王强2，王国荣1

作者信息 +

Control response analysis of deceleration braking system for pipeline plugging robot

TANG Yang*1, PI Yunsen1, WANG Qiang2, WANG Guorong1

Author information +

文章历史 +

摘要

为控制管道封堵机器人快速、精准完成减速制动，进一步提高管道维抢修作业的工作效率。创新设计了一种管道封堵机器人减速制动液压控制系统，并搭建了系统实验装置验证其可行性。建立了机器人管内流体模型以及动力学模型，提出了一种恒减速非线性动力学联合仿真模型，揭示了初速度、制动距离等重要参数对机器人减速制动过程中动态控制稳定性的影响规律。结果表明，设计的液压控制系统减速制动效果良好。随着机器人初速度减小，系统稳态误差越小，减速制动距离误差在0.3~0.5 m之间，定位误差和稳态误差均较小。不同减速制动距离下，加速度最大超调量为-3.54 m/s2，增加减速制动距离可有效降低定位误差。本研究对管道封堵机器人研究具有重要的指导意义。

Abstract

To control the pipeline plugging robot to complete the deceleration braking quickly and accurately, and further improve the efficiency of pipeline maintenance and repair operations. A hydraulic control system for deceleration braking of a pipeline plugging robot is innovatively designed, and an experimental system device is built to verify its feasibility. A fluid model and a kinetic model of the robot inside the pipe are established, and a joint simulation model of constant deceleration nonlinear dynamics is proposed, which reveals the influence of the initial speed, braking distance, and other important parameters on the stability of the dynamic control of the robot in the process of decelerating and braking. The results show that the designed hydraulic control system has a good deceleration braking effect. As the robot's initial speed decreases, the system's steady-state error is smaller, the error of deceleration braking distance is between 0.3 and 0.5 m, and the positioning error and steady-state error are smaller. Under different deceleration braking distances, the maximum overshoot of acceleration is -3.54 m/s2, and increasing the deceleration braking distance can effectively reduce the positioning error. This study has important guiding significance for researching pipeline plugging robots.

导出引用

唐洋1, 皮云森1, 王强2, 王国荣1. 管道封堵机器人减速制动系统控制响应分析[J]. 振动与冲击, 2025, 44(9): 179-187

TANG Yang1, PI Yunsen1, WANG Qiang2, WANG Guorong1. Control response analysis of deceleration braking system for pipeline plugging robot[J]. Journal of Vibration and Shock, 2025, 44(9): 179-187

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