Aiming at the corrosion and leakage of oil & gas pipelines caused by coating damage inside pipelines,a small-diameter integrated coating robot was taken as the object of study.Considering both in-stability and control errors of conventional robot control systems,a new control system and PID control al-gorithm were proposed,including analyzing the hardware circuit and control system design,discussing the logic of software running program and establishing a simulation model for the control system.The results show that,the robot control system exhibits good stability and robustness together with small control errors.It can efficiently and accurately complete spraying operations inside pipelines while demonstrating high ma-terial utilization,environmental friendliness and strong controllability.
关键词
PID控制算法/涂覆机器人/管道/涂层/鲁棒性/环境友好性
Key words
PID control algorithm/coating robot/pipeline/coating/robustness/environmental friendli-ness
维普
万方数据