Dynamic characteristics and motion control of pipeline robot under deformation excitation in subsea pipeline

Miao, Xingyuan; Hong, Zhonghua; Song, Fulin; Ma, Yinghan

doi:10.1016/j.oceaneng.2022.112790

Cited by 11 publications

(4 citation statements)

References 22 publications

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“…Stability is the primary indicator of any control system. Inspired by the proof steps in the references [29][30][31].…”

Section: Z Z mentioning

confidence: 99%

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An enhanced switching active disturbance rejection controller for speed control of permanent magnet synchronous motor

Gao,

Pan

2023

IEICE Electron. Express

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In this study, a novel active disturbance rejection controller (ADRC) is proposed to significantly improve the speed control performance of permanent magnet synchronous motor (PMSM). The conventional ADRC, namely linear active disturbance rejection controller (LADRC) and nonlinear active disturbance rejection controller (NLADRC), both them have their own merits and drawbacks. Thus, an enhanced switching active disturbance rejection controller (ESADRC) is developed to counteract the impacts of the speed-loop for the PMSM. The proposed ESADRC comprises several novel components including a novel tracking differentiator (TD), a novel switching extended state observer (SESO), a novel switching state error feedback (SSEF), and a cascaded extended state observer (ESO). The cascaded ESO is responsible for estimating the remaining disturbance after the SESO. Through comparative verification, it is verified that the proposed ESADRC outperforms the traditional ADRCs in terms of performance.

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“…Stability is the primary indicator of any control system. Inspired by the proof steps in the references [29][30][31].…”

Section: Z Z mentioning

confidence: 99%

“…In the state space, (17) can be represented as: ˆ e e will exist on the left half of S-plant. Under the condition that the SESO is stable, the reconstructions of the states are bounded, According to reference [30][31][32], we know the LESO2 remains stable. Consequently, the stability of the system is proved.…”

Section: Z Z mentioning

confidence: 99%

An enhanced switching active disturbance rejection controller for speed control of permanent magnet synchronous motor

Gao,

Pan

2023

IEICE Electron. Express

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“…Where n is the rotation speed of the axial cam. Equation (12) shows that the average step velocity of CCR inchworm in-pipe robot is only related to the cam velocity and the cam lift. At a certain velocity, increasing the cam lift can increase the walking velocity of the robot.…”

Section: Telescopic Motion Parametersmentioning

confidence: 99%

“…The train-like robot is mainly composed of three sealed modules and is driven by multiple motors. Miao et al [12] proposed a multi-module in-pipe robot for the pipeline isolation plugging, which mainly includes a pressure head, a squeeze bowl, an actuator plate, and a plug. Sawabe et al [13] proposed a control method for articulated wheeled mobile robots.…”

Section: Introductionmentioning

confidence: 99%

Design of an In-Pipe Robot Coupled With Multiple Cams

Xie,

Cui,

Cheng

et al. 2023

IEEE Access

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The inchworm in-pipe robot has the advantages of stable support, low walking resistance, and high flexibility. However, the gait motion of in-pipe robots relies on the precise coordination of three motors, which greatly increases the complexity of control. To solve this problem, an inchworm in-pipe robot based on a multi-cam combination is proposed. The robot needs only one motor to achieve active support and bidirectional crawling for the pipe wall, mainly used for detecting straight pipelines, such as the main drainage pipeline. In order to obtain the periodic motion law and characteristics of the inchworm in-pipe robot, structure design, constraint analysis, and dynamic simulation were carried out on the robot. Finally, the principle prototype was tested in the transparent pipe, the test results indicate that the robot can achieve bidirectional creep under a single motor drive, which can simplify the control of gait motion for inchworm in-pipe robots. The average displacement errors for horizontal walking and vertical walking are 2.0% and 11.3%, respectively, due to factors such as gravity. Therefore, the robot can achieve a more accurate step distance in horizontal pipelines.

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Analysis of the Influence of Human Exposure to Risk and ESG as Motivators for the Implementation of Climbing and Mobile Robots

Negri,

Fusinato,

Faria

et al. 2024

Lecture Notes in Networks and Systems

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Dynamic characteristics and motion control of pipeline robot under deformation excitation in subsea pipeline

Cited by 11 publications

References 22 publications

An enhanced switching active disturbance rejection controller for speed control of permanent magnet synchronous motor

An enhanced switching active disturbance rejection controller for speed control of permanent magnet synchronous motor

Design of an In-Pipe Robot Coupled With Multiple Cams

Analysis of the Influence of Human Exposure to Risk and ESG as Motivators for the Implementation of Climbing and Mobile Robots

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