【作者】 张宓；

【导师】 刘铁男；

【作者基本信息】 大庆石油学院 ， 控制理论与控制工程， 2007， 硕士

【摘要】 在现代社会中,人们总要遇到各种各样的管道设施,而许多管道系统不是架设在空中就是深埋于地下,这样一来,通过人力对管道的内部进行检测就很不方便。本文研制的移动式管道机器人本身携带CCD摄像头,可以对一定口径的管道内壁进行检测,具有较高的实用价值。本文首先对国内外管道机器人技术的发展做了综述,给出了移动式管道机器人本体结构设计方案,详细介绍了机器人的驱动机构、云台系统等环节的设计。所研制的机器人采用上下位机的控制模式,使用了目前在国内较为先进的光纤通信来传送控制信号和来自CCD摄像机的图像信号。下位机以LPC2114为核心处理器,进行了移动式管道机器人行走电机的驱动控制设计、云台电机的驱动控制设计、RS232串口通信电路以及控制系统外围电路的设计。在软件方面,以ADS1.2为编译器,采用汇编语言和C语言相结合的编程方式,设计了下位机控制软件。为了提高移动式管道机器人控制系统的控制精度,满足更高的控制要求,并为下一步的研究奠定基础,本文将改进的积分分离PID控制算法应用于机器人行走电机的驱动器设计中,使机器人能够在更为复杂的环境中运行,同时设计了无刷直流电机的自适应模糊控制器,通过仿真试验证明了方案的有效性。最后介绍了移动式管道机器人实物样机的一些实验情况,分析了一下该款样机的性能,根据试验结果验证了预期的设计目标,也指出了以后的研究中需要改进的问题。更多还原

【Abstract】 In the modern world, people can always come in contact with all kinds of facilities of pipelines beside them. However, many pipeline systems are either held in the air or buried deeply underground. So it is very inconvenient to detect the inside of the pipelines by manpower. Carrying a CCD camera, The mobile pipe robot that is designed in the paper can detect the intine of the pipelines with particular diameter. The robot really has utility value.At first, the development of pipe robot technique is overviewed in the thesis domestically and abroad. The scheme of structure design is put forward for the moveable pipe robot. The design of driving-gear and platform system is introduced in detail.The control pattern of using master computer and slaver computer is adopted for the robot. Fiber optics communication that is advanced domestically at present is used to transmit control signal and image signal come from CCD camera. LPC2114 is used to be kernel processor in slaver computer. Many circuits are designed in the paper, including drive circuit and control circuit of brushless DC moter proceecor and stepper motor, RS232 serial port communication circuit and some aided circuits of the control system. In respect of software, control software of slaver computer is designed, using ADS1.2 as compiler and using assembler language and C language as programming languages.In order to improve the control precision of the robot control system and satisfy much higher control requirement, a kind of improved integral separated PID algorithm is used to design the drive of the DC motor, which can make the robot walk in the more complex environment. At the same time, in order to establish the base for later research the adaptive fuzzy control for brushless DC motor is studied.Some experiments of the moveable pipe robot prototype are performed at last. The performance of the robot prototype is analysed. The results of the experiments verify the anticipatory destination, and they also point out the place that need to be improved in further research.更多还原