【作者】 陈华；

【导师】 于今；

【作者基本信息】 重庆大学 ， 机械工程， 2019， 硕士

【摘要】 随着现代交通、天然气、石油化工和制造工厂的建设发展,管道已作为现代生产生活中不或缺的一个物料运输工具,定期对管道的检测、维护和清理是保证管道正常运输物料的重要环节,但是又不宜或者不可能长期采用工人对管道进行检测、维护和清理。采用特种管道机器人对管道进行监测、维护和清理变得更加合理、经济、高效、友好。本文依托国家重点研发计划“劳动密集型工业企业职业病危害防护技术与装备研发”(项目编号:2016YFC0801700),以抛光打磨车间等劳动密集型作业场所的通风除尘管道(480mm~800mm)为作业对象,根据其防爆、运动控制和清理等要求,研究开发能在管内自主运行并携带清理装置的管道机器人。主要研究的内容如下:(1)在查阅和掌握大量管道机器人相关文献和资料的基础上,总结分析各类行走运动方式和驱动方式的特点,结合通风除尘管道的环境要求和作业需求,提出一种基于气动摆缸驱动的两履带式管道机器人,并设计相关的履带行走机构,机器人主体结构、气动驱动系统回路和总体检测控制系统。(2)建立两履带式管道机器人在管内运动的运动学基本方程,研究拖缆在直管和弯管中的阻力效果,不同管道坡度和机器人横滚角对其所需最小质量、附着力和牵引力的影响。研究基于高速开关阀控摆缸的动态数学模型。得出模型主要由高速开关阀流量模型、摆缸流量微分方程和摆缸叶片受力平衡方程组成,并基于理论模型搭建了Simcape的仿真模型。得出占空比越大,系统输出角速度速越大,周期对系统稳态输出角速度无影响的结论。(3)建立机器人在过弯过程中的过渡阶段和旋转阶段的履带轮差速调节模型,搭建了管道机器人Adams虚拟样机模型,并对调速模型进行了仿真验证。对机器人在管内的非精确行走控制、步进速度控制和位置控制进行了研究,得到了可通过控制信号PFM周期控制机器人行驶平均速度,通过PWM占空比控制机器人步进速度和精确的位置控制的结论。针对位置控制,提出了模糊PID控制,较PID控制具有更快的响应特性和更好稳态精度。研究管道机器人在管内自主行走的控制策略,设计了机器人直管调速模糊控制器和弯管差速控制器,并搭建了Adams和Matlab联合仿真平台,对控制器的控制效果进行了仿真验证。(4)针对工作需求和环境工况,对管道机器人的控制系统的软硬件进行了详细的设计,开发了基于Labview的人机交互界面程序和基于UCOS-II的下位机控制程序。开展运动速度试验、最大牵引力试验、爬坡试验与现场实测,试验测得管道机器人前进行驶速度为0~19mm/s,后退行驶速度为0~25mm/s,在平直管中的最大牵引力约为195N,最大的行驶坡度角约为15度。更多还原

【Abstract】 With the construction and development of modern transportation,natural gas,petrochemical and manufacturing plants,pipeline has become an indispensable means of material transportation in modern production and life.Regular inspection,maintenance and cleaning of pipeline is an important link to ensure that pipeline can transport materials normally,but it is not appropriate or impossible to use workers to detect,maintain and clean pipelines for a long time.It is more reasonable,economical,efficient and friendly to use special pipeline robots to monitor,maintain and clean pipelines.Relying on “the research and development of occupational hazard protection technology and equipment for labor-intensive industrial enterprises”(Project No.2016YFC0801700)under the State Key R&D Program.Taking the ventilation and dust removal pipes(480mm~800mm)in the polishing and grinding workshops and other labor-intensive workplaces as the object of operation,According to the requirements of explosion-proof,motion control and cleaning,a pipeline robot which can run independently in the pipeline and carry the cleaning device is developed.The main research contents are as follows:(1)On the basis of consulting and mastering a large number of relevant literature and data of pipeline robot,the characteristics of various walking and driving modes are summarized and analyzed.A two-track pipeline robot driven by pneumatic swing cylinder is proposed.The relevant tracked walking mechanism,the main structure of the robot,the circuit of pneumatic driving system and the general detection and control system are designed.(2)The basic kinematics equations of two tracked pipeline robots are established.The drag effect of towing cables in straight and elbow pipes,and the influence of pipe gradient and robot roll angle on the minimum mass adhesion and traction force required by the towing cables are studied.The dynamic mathematical model of swing cylinder controlled by high-speed on-off valve is studied.The model is composed of flow model of high-speed on-off valve,flow differential equation of swing cylinder and force balance equation of swing cylinder blade.Simcape’s simulation model is built based on the theoretical model.It is concluded that the larger the duty cycle,the larger the output angular velocity of the system,and the period has no effect on the steady output angular velocity of the system.(3)The speed characteristics of pipeline robot in the process of bending are analyzed,and the differential speed regulation model of left and right caterpillar wheels is deduced.The speed regulation model is simulated and validated under Adams simulation model.The inaccurate walking control,step speed control and position control of the robot in the pipe are studied.It is concluded that the average speed of the robot can be controlled by the control signal PFM cycle,the step speed and the precise position of the robot can be controlled by the duty cycle of PWM.Fuzzy-PID control is proposed for position control,which has faster response characteristics and better steady-state accuracy than PID control.The control strategy of pipeline robot autonomous walking in pipeline is studied.The fuzzy controller of straight pipe speed regulation and the differential controller of elbow are designed.The joint simulation platform of Adams and Matlab is built,and the control effect of the controller is simulated and verified.(4)Aiming at working requirements and environmental conditions,the software and hardware of the control system of pipeline robot are designed in detail.The humancomputer interface program based on Labview and the multi-task lower computer control program based on UCOS-II real-time operating system are developed.Motion speed test,maximum traction test,climbing test and field measurement were carried out.The results show that the average forward speed of the pipeline robot can be dynamically adjusted between 0 and 19 mm/s.The maximum traction force in the straight pipe is about 195 N,and the maximum steep angle is about 15 degrees.更多还原