管道检测器非线性波动摩擦力主动控制策略OA

Pipeline inspection gauge has become the most widely used pipeline detection method at present because of its strong functionality and non-shutdown detection advantages.The theoretical and experimental research on the widespread phenomenon of large fluctuations in frictional force during the operation of the detector was conducted.A nonlinear friction model of the detector was derived.Based on the proposed model,the single-neuron adaptive PID(SNA-PID)control algo-rithm based on noise-adaptive unscented Kalman filter(UKF)was adopted to control the fluctuating friction force.A detector testing prototype which can realize active control of friction force was developed.A pipeline experimental platform was set ac-cording to the proposed theoretical model and testing prototype,and several experiments were conducted for verification.The results show that the errors of the proposed mathematical model are 1.6%,1.3%and 0.8%under the velocity of 0.1-0.3 m/s,respectively,which can accurately predict the friction force exerted on the detector.Compared with no control system,SNA-PID controller can restrain 41.5%,49.7%and 61.4%of friction force fluctuation range.Compared with other control al-gorithms,the proposed algorithm has better robustness and control accuracy.The feasibility and effectiveness of the proposed control algorithm in suppressing the friction force fluctuation of the detector by controlling the interference were verified.