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.