论文标题
尺寸适应水管机器人的设计，表征和控制用于水分配系统
Design, Characterization, and Control of a Size Adaptable In-pipe Robot for Water Distribution Systems
论文作者
论文摘要
泄漏检测和水质监测是水分配系统（WDS）的要求和具有挑战性的任务。在线机器人是为此目的而设计的。在以前的工作中，我们设计了一个管式机器人[1]。在这项研究中，我们介绍了中央处理器的设计，并根据高速流动的高度加压环境中的运行状况来表征和控制机器人。为此，使用计算流体动力学（CFD）模拟了极端的操作条件，并且弹簧机制的特征是确保基于极端工作条件在操作过程中足够的稳定力。此外，建议使用端到端的方法来考虑我们的机器人的功率注意事项，以计算极端操作条件下的最小电池容量和操作持续时间。最后，我们根据系统辅助矩阵设计了一种新型的基于LQR-PID的控制器，该控制器在管道内保留机器人稳定性，以防止操作过程中的干扰和不确定性。机器人控制器的ADAMS-MATLAB共模拟显示了-4度/sec的旋转速度和X，Y和Z轴周围的+3度/sec缘，而系统则跟踪管道中的不同所需速度（即0.12m/s，0.12m/s，0.17m/s和0.17m/s和0.355m/s）。 Also, experimental results for four iterations in a 14-inch diameter PVC pipe show that the controller brings initial values of stabilizing states to zero and oscillate around it with a margin of 2 degrees and the system tracks desired velocities of 0.1m/s, 0.2m/s, 0.3m/s, and 0.35m/s in which makes the robot dexterous in uncertain and highly disturbed the environment of pipelines during operation.
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we present the design of the central processor, characterize and control the robot based on the condition of operation in a highly pressurized environment of pipelines with the presence of high-speed flow. To this aim, an extreme operation condition is simulated with computational fluid dynamics (CFD) and the spring mechanism is characterized to ensure sufficient stabilizing force during operation based on the extreme operating condition. Also, an end-to-end method is suggested for power considerations for our robot that calculates minimum battery capacity and operation duration in the extreme operating condition. Finally, we design a novel LQR-PID based controller based on the system auxiliary matrices that retain the robot stability inside the pipeline against disturbances and uncertainties during operation. The ADAMS-MATLAB co-simulation of the robot-controller shows the rotational velocity with -4 degree/sec and +3 degree/sec margin around x, y, and z axes while the system tracks different desired velocities in pipelines (i.e. 0.12m/s, 0.17m/s, and 0.35m/s). Also, experimental results for four iterations in a 14-inch diameter PVC pipe show that the controller brings initial values of stabilizing states to zero and oscillate around it with a margin of 2 degrees and the system tracks desired velocities of 0.1m/s, 0.2m/s, 0.3m/s, and 0.35m/s in which makes the robot dexterous in uncertain and highly disturbed the environment of pipelines during operation.
