管道封堵机器人控制特性响应分析与实验研究  

Response Analysis and Experimental Study on the Control Characteristics of Pipeline Plugging Robot

作　　者：唐洋[1,2] 皮云森 周明海 王远 TANG Yang;PI Yunsen;ZHOU Minghai;WANG Yuan(School of Mechatronic Engineering,Southwest Petroleum University,Chengdu,Sichuan 610500,China;Energy Equipment Institute,Southwest Petroleum University,Chengdu,Sichuan 610500,China)

机构地区：[1]西南石油大学机电工程学院,四川成都610500 [2]西南石油大学能源装备研究院,四川成都610500

出　　处：《北京理工大学学报》2024年第9期960-969,共10页Transactions of Beijing Institute of Technology

基　　金：国家重点研发计划项目(20121YFC2800903);四川省科技成果转移转化示范项目(2022ZHCG0052);四川省科技计划资助(2020YJ0152)。

摘　　要：为了提高管道封堵机器人在管道维抢修的效率与精度,设计了一种管道封堵机器人封堵液压控制系统,通过仿真分析,评估了该控制系统的响应特性.搭建了封堵液压控制实验装置,研究了封堵过程中橡胶筒轴向位移的变化,以及不同输出流量对封堵速度的影响.结果表明,所设计的液压控制系统能够确保机器人各个执行机构协调运作,避免相互干涉,液压缸的位移、流量及速度与理论设计值相符.当橡胶筒变形轴向位移达到61.55 mm时,控制系统能够实现10 MPa的油气压力封堵.液压系统流量对封堵速度影响显著,流量越大,封堵速度越快.To improve the efficiency and accuracy of pipeline-plugging robots in pipeline maintenance and repair,a plugging hydraulic control system was designed innovatively for pipeline plugging robot in this study,evaluating its response characteristics with simulation analysis.A plugging hydraulic control experimental device was constructed to study the axial displacement of rubber cylinders during the plugging process and the effect of different output flow rates on the plugging speed.The results show that the designed hydraulic control system can ensure the coordinated operation of robot actuator to avoid mutual interference,being capable of making the displacement,flow rate,and speed of the hydraulic cylinder consistent with the theoretical design values.When the axial displacement of rubber cylinder deformation reaches 61.55 mm,the control system can achieve 10 MPa of oil and gas pressure plugging.The flow rate of the hydraulic system has a significant effect on the plugging speed,presenting the larger the flow rate,the faster the plugging speed.

关 键 词：管道封堵机器人 封堵 液压控制系统 橡胶筒变形 封堵速度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TE973[自动化与计算机技术—控制科学与工程]