CAJ | 학술논문

针对现有的螺旋驱动管内机器人由于弹性臂末端螺旋轮倾角固定所导致的负载能力不可调和能耗调节能力有限的问题，提出一种螺旋轮倾角可控的螺旋驱动管内机器人。螺旋轮倾角可控使机器人在电动机性能约束下具有更大范围的环境适应性和更强的能耗优化能力。基于动力学模型和能耗模型，通过能量优化分析，提出定点作业能量最优控制策略和考虑速度约束的恒速巡检能量次优控制策略。仿真结果表明这两种控制策略能够分别根据负载外力的不同调整螺旋轮倾角及电动机角速度，使机器人运动相同距离的能耗低于螺旋轮倾角固定的机器人能耗。在三种不同负载外力的实际管道环境中，试验验证了两种控制策略能量优化的有效性。
침대현유적라선구동관내궤기인유우탄성비말단라선륜경각고정소도치적부재능력불가조화능모조절능력유한적문제，제출일충라선륜경각가공적라선구동관내궤기인。라선륜경각가공사궤기인재전동궤성능약속하구유경대범위적배경괄응성화경강적능모우화능력。기우동역학모형화능모모형，통과능량우화분석，제출정점작업능량최우공제책략화고필속도약속적항속순검능량차우공제책략。방진결과표명저량충공제책략능구분별근거부재외력적불동조정라선륜경각급전동궤각속도，사궤기인운동상동거리적능모저우라선륜경각고정적궤기인능모。재삼충불동부재외력적실제관도배경중，시험험증료량충공제책략능량우화적유효성。
In the existing in-pipe robots based on screw drive, the inclining angle of rollers tipped on the elastic arms is usually invariable. The roller with an unchangeable inclining angle is an obstacle for changing load capacity and optimizing energy consumption of the robot. Therefore, a screw drive in-pipe robot with inclining-angle-adjustable rollers is proposed. While considering the constraint of motor performance, the adjustable inclining angle enhances large-scale environmental adaptability and the ability of optimizing energy consumption. The optimization of energy consumption is then discussed based on dynamic analysis and the model of energy consumption. Two control strategies of energy optimization:An energy optimization of point-approaching task and an energy suboptimization of inspection with constant traveling speed are proposed. The simulation results show that the two control strategies can respectively change the inclining angle and the motor speed based on the load. The energy consumption for a same distance is less than that of a robot without inclining-angle-adjustable rollers. In real pipelines with three different loads, the experiments verified the validity of the proposed control strategies.