化工自动化及仪表
化工自動化及儀錶
화공자동화급의표
CONTROL AND INSTRUMENTS IN CHEMICAL INDUSTRY
2014年
9期
1019-1022
,共4页
许红%李著信%李媛媛%龚利红%刘泽山
許紅%李著信%李媛媛%龔利紅%劉澤山
허홍%리저신%리원원%공리홍%류택산
差压式管道检测机器人%速度控制%模糊PID控制%自适应
差壓式管道檢測機器人%速度控製%模糊PID控製%自適應
차압식관도검측궤기인%속도공제%모호PID공제%자괄응
fluid-driven pipeline inspection robot%speed control%fuzzy PID control%adaptive
针对差压式管道检测机器人的基本结构和调速原理，建立了相应的速度控制系统，明确了速度控制流程。应用模糊自适应思想，结合模糊控制和PID控制原理，设计了满足差压式管道检测机器人调速需求的模糊自适应PID控制器。
針對差壓式管道檢測機器人的基本結構和調速原理，建立瞭相應的速度控製繫統，明確瞭速度控製流程。應用模糊自適應思想，結閤模糊控製和PID控製原理，設計瞭滿足差壓式管道檢測機器人調速需求的模糊自適應PID控製器。
침대차압식관도검측궤기인적기본결구화조속원리，건립료상응적속도공제계통，명학료속도공제류정。응용모호자괄응사상，결합모호공제화PID공제원리，설계료만족차압식관도검측궤기인조속수구적모호자괄응PID공제기。
Based on fluid-driven pipeline inspection robot’ s basic structure and speed regulation principle, its corresponding speed control system was developed and its speed control process was defined.Making use of the fuzzy adaptive theory and having both fuzzy control and PID control principle considered, a fuzzy adaptive PID controller was designed as the robot speed control demanded.
