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Dynamic control stability analysis of pipeline intelligent plugging robot in its deceleration and precise positioning

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Abstract

In order to realize the precise positioning of the tools in the pipeline repair operation, solve the problems of the traditional throttle speed control, such as slow response, long deceleration distance and so on, this paper explores a deceleration process of a pipeline intelligent plugging robot (PIPR) that relies on the friction between slips and the pipe, and establishes its dynamic model based on fuzzy PID force servo control. The influence of PIPR initial velocity, expected deceleration distance, accumulator setting on the response time, positioning accuracy, overshoot and stability during deceleration is analyzed, and the results show that: as the initial velocity increases, the time for slips to contact the pipe decreases, the overshoot of the centroid acceleration gradually increases, the maximum overshoot is −3.4 m/s2, the control time of the deceleration process is within 30 s, the positioning accuracy is within 5 %; the expected deceleration distance has a greater impact on the positioning accuracy of the system than the initial velocity; and the accumulator setting has little effect on the positioning accuracy and stability of the system. These studies provide guidance for the design of pipeline robot speed control and positioning system.

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Acknowledgments

This work is supported by National Natural Science Foundation of China (52004235), China; supported by China Postdoctoral Science Foundation (2020M683359), China; International Science and Technology Cooperation Project Funding (2020-GH02-00041-HZ), China; National Key Research and Development Program (2018YFC0310201), China; National Science and Technology Major Project (2016ZX05028-001-006), China; China Postdoctoral Innovative Talents Support Program (BX20190292), China; Scientific Research Starting Project of SWPU (NO. 2018QHZ017), China; Open Fund of State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation (Southwest Petroleum University) (PLN201827), China; Southern Ocean Science and Engineering Guangdong Laboratory (Zhanjiang) Project (ZJW-2019-03), China.

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Authors and Affiliations

  1. School of Mechatronic Engineering, Southwest Petroleum University, Chengdu, Sichuan, 610500, China

    Yang Tang, Jie Wu, Xiang Liu, Xin Yang, Yuan Wang & Haoyu Xiong

Authors
  1. Yang Tang
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  2. Jie Wu
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  3. Xiang Liu
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  4. Xin Yang
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  5. Yuan Wang
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  6. Haoyu Xiong
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Corresponding author

Correspondence to Yang Tang.

Additional information

Tang Yang received his Ph.D. from Southwest Petroleum University in 2016. He is currently an Associate Researcher and Master Tutor at Southwest Petroleum University. His research interests include equipment integrity, natural gas hydrate extraction, modern design and simulation of oil and gas equipment.

Wu Jie received his Bachelor’s degree from Southwest Petroleum University in 2019. He is currently studying for a Master’s degree in the School of Mechanical and Electrical Engineering of Southwest Petroleum University. His research interests include oil and gas equipment and hydraulic control of pipeline robots.

Liu Xiang received a Bachelor’s degree from Chengdu College of University of Electronic Science and Technology of China in 2019. He is currently studying for a Master’s degree in the School of Mechanical and Electrical Engineering of Southwest Petroleum University. His research interests include oil and gas equipment and pipeline robots.

Yang Xin received his Bachelor’s degree from Sichuan University of Light Chemical Technology in 2019. He is currently studying for a Master’s degree in the School of Mechanical and Electrical Engineering of Southwest Petroleum University. His research interests include oil and gas equipment integrity assessment.

Wang Yuan received a Bachelor’s degree from North University of China in 2020. He is currently studying for a Master’s degree in the School of Mechanical and Electrical Engineering of Southwest Petroleum University. His research interests include pipeline robot communication.

Xiong Haoyu received a Bachelor’s degree from Chengdu Institute of Technology in 2020. He is currently studying for a Master’s degree in the School of Mechanical and Electrical Engineering of Southwest Petroleum University. His research interests include oil and gas equipment and pipeline robot structures.

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Tang, Y., Wu, J., Liu, X. et al. Dynamic control stability analysis of pipeline intelligent plugging robot in its deceleration and precise positioning. J Mech Sci Technol 36, 4707–4717 (2022). https://doi.org/10.1007/s12206-022-0831-1

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  • DOI: https://doi.org/10.1007/s12206-022-0831-1

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