Research on wheeled pipe robot based on fractional order PID control

This paper proposes a scheme for the research of wheeled pipe robots. On the basis of understanding the research background of wheel pipe robot control and the research status at home and abroad, a matching motion model is established for the wheel pipe robot and its transfer function is calculated. Simulink module is used to build the system model, add interference, and carry out simulation experiments, and obtain the simulation curves of the fractional PID control technology without PID control and the fractional order PID control technology, and the simulation results show that the fractional order PID control technology can effectively improve the robustness of the system.

I. Introduction

According to the different walking modes, self-driving pipeline robots can also be divided into wheeled type, crawler type, vehicle type, peristaltic type, foot type and spiral wheel type, etc [1]. Among them, wheeled pipeline robots have become the most common walking mode adopted by pipeline robots at this stage due to their advantages of stable movement, large traction, exquisite and simple structure, and easy implementation [2]. The robot walks in the pipeline, and the unevenness of the road surface will cause the robot to vibrate, thereby affecting the clarity of the image and interfering with the entire system; In the process of avoiding obstacles, sudden changes in speed and direction will also affect the stability of the entire system. Therefore, how to optimize the control of pipeline robots in complex environments is the focus of the current problem.