基于模糊ＰＩ的管道清淤机器人控制系统研究

为了精确控制一款新型管道清淤机器人的运动状态，保证该机器人能在管道的恶劣环境中稳定工作，设计了整机的运动控制系统并对轮式行走单元的驱动系统进行模糊 ＰＩ算法研究；然后在３组行走单元的控制系统之间设计了速度补偿器，使它们具有耦合关系，以保证３组行走单元的同步性。利用Ｓｉｍｕｌｉｎｋ对以上控制方法进行了模拟仿真和实验。实验结果表明，基于模糊 ＰＩ算法的控制系统可实现对机器人运行状态的精确控制，令该系统具有良好的可控性和抗干扰性；通过速度补偿器建立３组行走单元之间的耦合关系，实现了它们的同步协调运转，并增强了该机器人的运动平稳性，能够满足清淤机器人的设计要求。

Research on Control System of Pipeline Dredging Robot Based on Fuzzy-PI

In order to control the new pipe dredging robot more accurately and ensure the stable operation of the robot in the harsh environment,the motion control system of the robot was designed and the fuzzy-PI algorithm for walking unit of wheeled mechanism was studied;Then,speed compensators were designed between the control systems of the three groups of walking units to make them have a coupling relationship to ensure the synchronization.According to the Simulations by Simulink and experimentations of the above control methods,it were indicated that the precise control of the motion state of the robot was realized,which makes the control system have good controllability and antiinterference through the control of fuzzy-PI;The coupling relationship between the three groups of walking units was established by the speed compensators,make them run synchronously.It enhanced the movement stability of the robot and satisfied the design requirements of the dredging robot.