Speed Control Characteristics and Energy Consumption Modeling for Composite Driving in-Pipe Robot

摘要

In order to realize the long-distance inspection of the in-pipe robot, a new type of composite in-pipe robot mechanism driven by integrated the fluid medium and the motor is proposed in this paper. By analyzing the speed regulation mode of the speed-regulating mechanism of discharge flow, the dynamic equation for the fluid drive of the in-pipe robot is established, and according to the requirements of the inspection conditions of the in-pipe robot on the moving speed, the dynamic model of the speed regulation for the fast motion and deceleration drive is proposed. Furthermore, the energy consumption evaluation model of the composite driving in-pipe robot is established, the speed regulation characteristics and energy consumption variation characteristics of the in-pipe robot adapted to three kinds of the inspection conditions are studied by simulation. The energy consumption variation rule of the in-pipe robot with different moving speed and fluid pressure is analyzed and studied by using the experimental prototype of the composite driving in-pipe robot, and the valuable conclusions are obtained.