Study on the control system for the petroleum well plug removal robot with electrical impulse

摘要

This paper works by the impulse force of pulse power at the form of the plug removal robot working by itself and has the advantages of high efficiency, high automation, environmental pollution-free, and so on. It has researched and developed on the robot control system based on PC and microcontroller. Some achievement in motor driving, minitrim system, shot hole measure and robot positioning are obtained. Based on the request of plug removal, the low frequency electrical impulse plug removal robot and its control system, including hardware circuit and control procedure, are developed. The robot control system has been designed modularizingly. None trouble occurs in all modules. It improves the robot’s security.