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Authors: Jiman Luo and Lulu Dai

Affiliation: Shenyang Jianzhu University, Shenyang, China, China

Keyword(s): Pipe dredging robot, PI algorithm, double closed loop control, control system.

Abstract: In order to control the new pipe dredging robot more accurately and ensure the stable operation of the robot in the harsh environment, the motion control system of the robot is designed and the PI algorithm based on double closed-loop speed control system for walking unit of wheeled mechanism is studied. According to the Simulations by Simulink and experimentations of the above control methods, it was indicated that the motor speed can be stabilized at the set speed value under the disturbance of load change, and the dynamic performance is also stable. Finally, a double closed-loop speed control system with strong anti-load fluctuation capability is adopted. The control method satisfied the requirements of the working condition of the robot in a complex environment and realized that the precise control of the motion state of the robot.

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Paper citation in several formats:
Luo, J. and Dai, L. (2020). The Research on Control System of Pipeline Dredging Robot based on Simulink. In Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - ICVMEE; ISBN 978-989-758-412-1; ISSN 2184-741X, SciTePress, pages 329-335. DOI: 10.5220/0008480803290335

@conference{icvmee20,
author={Jiman Luo. and Lulu Dai.},
title={The Research on Control System of Pipeline Dredging Robot based on Simulink},
booktitle={Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - ICVMEE},
year={2020},
pages={329-335},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008480803290335},
isbn={978-989-758-412-1},
issn={2184-741X},
}

TY - CONF

JO - Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - ICVMEE
TI - The Research on Control System of Pipeline Dredging Robot based on Simulink
SN - 978-989-758-412-1
IS - 2184-741X
AU - Luo, J.
AU - Dai, L.
PY - 2020
SP - 329
EP - 335
DO - 10.5220/0008480803290335
PB - SciTePress

- Science and Technology Publications, Lda.
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