CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
INTERNAL DIAGNOSTICS OF PIPELINES WITH USE OF mobile robots. Внутритрубная диагностика газопроводовPART 2. The robot control IN THE TYPICAL situations inside the pipeline
 |
Read | Golubkin Igor A., Shcherbatov Ivan A. INTERNAL DIAGNOSTICS OF PIPELINES WITH USE OF mobile robots. Внутритрубная диагностика газопроводовPART 2. The robot control IN THE TYPICAL situations inside the pipeline // Caspian journal : management and high technologies. — 2016. — №3. — pp. 100-111. |
Golubkin Igor A. - post-graduate student, Astrakhan State Technical University, 16 Tatishchev St., Astrakhan, 414056, Russian Federation, golubkin@inbox.ru
Shcherbatov Ivan A. - Ph.D. (Engineering), Associate Professor, Astrakhan State Technical University, 16 Tatishchev St., Astrakhan, 414056, Russian Federation, sherbatov2004@mail.ru
In article is created based on the hybrid model of the robot moving inside the pipe (which combines an analytical model of the robot and the formalization of fuzzy variables and situations) the task of control of the inspection robot. Authors are developed a method for control of a robot based on typical situation, synthesized algorithmic support of the implementation of method for control. The method represents sequence of stages: definition of existence of a typical situation; definition of a type of a situation; calculation of the operating influences: axial force according to a control algorithm of a subsystem of regulatory level and speeds according to algorithm of calculation of speeds of wheel modules. Authors are showing examples of simulation solutions management tasks the robot in different modes (when switching from mode to mode). The software developed, which is used to solve the problem of robot control in typical situations in pipelines of various designs.
Key words: управление, робот, внутритрубная диагностика, газопровод, типовая ситуация, гибридная модель, нечеткие множества, диагностика, методика управления роботом, сенсорная подсистема, control, robot, internal diagnostics, gas pipeline, typical situation, hybrid