管道机器人智能电缆绞盘恒张力控制的研究

摘要

In the bockward of in-pipe robot, it needs manual operation to pull back the cable. To solve this problem, this article proposes a intelligent cable winch system. It is mainly based on the control of the cable's tension between the pipeline robot and the winch. Thus the article proposed and established a tension model based on the fuzzy control, and perform a simulation study on tension control using Matlab software, the result shows that the method is feasible, and constant tension control system based on fuzzy control has great value in practice in robot system.%针对管道机器人在后退过程中需要借助人手动来收线的问题,提出了一种智能化的电缆绞盘系统,它是通过管道机器人爬行器和绞盘间电缆的恒张力控制来实现的.由此建立了基于模糊控制的恒张力模型,并利用Matlab软件对张力控制系统进行了仿真研究,结果表明该方法是可行的,基于模糊控制的恒张力系统在机器人系统中具有很好的应有价值.