本文選題：城市地下管道 + 檢測機(jī)器人　； 參考：《湖北工業(yè)大學(xué)》2017年碩士論文

【摘要】：城市地下管線由于數(shù)量巨大、種類繁多、新舊層次突出,使得對(duì)其進(jìn)行探測、定位以及維修等工作的難度極大,對(duì)我國“十三五”城市地下管廊建設(shè)和城鎮(zhèn)化的迅速發(fā)展造成了極大程度上的阻礙。因此,研發(fā)一套城市地下管道機(jī)器人來替代人工作業(yè),來降低檢測人員的工作強(qiáng)度,提高工作過程中的檢測效率,對(duì)管道的快速檢測、及時(shí)疏通和實(shí)時(shí)維護(hù)等方面具有十分重大的意義和廣闊的工程應(yīng)用前景。本學(xué)位論文針對(duì)城市地下管道檢測機(jī)器人系統(tǒng)研發(fā)過程中所面臨的運(yùn)動(dòng)軌跡跟蹤、打滑等實(shí)際工程問題展開研究,主要內(nèi)容包括:首先,基于本學(xué)位論文所需解決的控制問題,介紹了反演控制方法的基本概念,對(duì)管道機(jī)器人運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)兩方面進(jìn)行分析,建立管道機(jī)器人運(yùn)動(dòng)系統(tǒng)和動(dòng)力系統(tǒng)反演控制模型,通過分別預(yù)設(shè)直線軌跡和“S”形路徑,對(duì)機(jī)器人在管道內(nèi)運(yùn)動(dòng)的軌跡進(jìn)行了跟蹤仿真。結(jié)果表明,基于反演控制方法設(shè)計(jì)的控制器在完成管道機(jī)器人軌跡跟蹤方面較好的效果,并能很好地實(shí)現(xiàn)實(shí)時(shí)糾偏功能。其次,研究了管道小車在管壁上行進(jìn)時(shí)出現(xiàn)打滑現(xiàn)象。在討論管道機(jī)器人不同工況下拖纜力與拖纜距離、拖纜速度、纜線與地面接觸的摩擦系數(shù)之間關(guān)系的基礎(chǔ)上,建立基于滑轉(zhuǎn)率的管道機(jī)器人動(dòng)力學(xué)模型,模擬實(shí)際工況條件,研究了管道機(jī)器人輪地作用過程中發(fā)生打滑的機(jī)理,能為檢測過程中出現(xiàn)的機(jī)器人打滑問題提供解決方案。最后,結(jié)合地下管道系統(tǒng)技術(shù)指標(biāo)要求,再基于其反演控制法設(shè)計(jì)的控制器,得到了管道樣機(jī)的運(yùn)動(dòng)系統(tǒng)設(shè)計(jì)思路,完成樣機(jī)的本體結(jié)構(gòu)和控制系統(tǒng)研發(fā),并最終完成了實(shí)驗(yàn)樣機(jī)研制。通過機(jī)器人尋跡和牽拉實(shí)驗(yàn),驗(yàn)證了反演運(yùn)動(dòng)控制方法的有效性和機(jī)器人帶纜線負(fù)載運(yùn)行的穩(wěn)定性。
[Abstract]:Due to the large number of urban underground pipelines, various types and outstanding new and old levels, it is very difficult to detect, locate and maintain the underground pipelines. It has greatly hindered the construction of underground pipe corridor and the rapid development of urbanization in the Thirteenth Five-Year Plan of China. Therefore, to develop a set of urban underground pipeline robot instead of manual work, to reduce the work intensity of the inspectors, improve the detection efficiency in the work process, and the rapid detection of pipelines, Timely dredging and real-time maintenance have great significance and broad engineering application prospect. This dissertation focuses on the actual engineering problems such as track tracking, skid and other practical engineering problems in the research and development of urban underground pipeline detection robot system. The main contents include: firstly, based on the control problems that need to be solved in this thesis, This paper introduces the basic concept of inverse control method, analyzes the kinematics and dynamics of pipeline robot, establishes the inverse control model of pipeline robot motion system and dynamic system, and sets up the linear trajectory and "S" path respectively. The trajectory of the robot in the pipeline is tracked and simulated. The results show that the controller designed based on the inverse control method is effective in completing the trajectory tracking of the pipeline robot and can achieve the function of correcting the deviation in real time. Secondly, the slippage phenomenon of the pipeline car is studied when it travels on the pipe wall. On the basis of discussing the relationship between the cable force and the distance of towing cable, the speed of towing cable, the friction coefficient between cable line and ground contact under different working conditions of pipeline robot, a dynamic model of pipeline robot based on slip rate is established, and the actual operating conditions are simulated. The mechanism of slippage occurred in the course of wheel-ground action of pipeline robot is studied, which can provide a solution to the problem of robot skid in the detection process. Finally, according to the technical requirements of underground pipeline system, and then based on the controller designed by its inversion control method, the motion system design idea of pipeline prototype is obtained, and the prototype body structure and control system research and development are completed. Finally, the experimental prototype is developed. The effectiveness of the inverse motion control method and the stability of the robot with cable load are verified by the robot tracing and pulling experiments.
【學(xué)位授予單位】：湖北工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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