基于模糊自适应PID控制器的差压式管道检测机器人速度控制系统设计

摘要

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。%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.