摘要：The in-pipe maintenance and repair technology based on the pipeline isolation plugging robot (PIPR) is the primary means for ensuring the safety of subsea pipelines. Under the excitation of pipeline deformation, the shock vibration will occur, resulting in inaccurate detection results or damage to PIPR. In this paper, the dynamic characteristics and motion control of PIPR were studied. The dynamic model of PIPR was established. And the dynamic analysis of the wheels and sealing cups passing through the convex deformation was carried out. Through dynamic simulation and experimental research, the axial vibration caused by different velocities and attitude angles passing through the convex deformation was analyzed. The results showed that the axial vi-bration intensified as the motion velocity increased, and the PIPR experienced the speed excursions. With the increase of the deformation height, the axial vibration was more intense, and when the attitude angle was 60 degrees, the amplitude of axial vibration was the largest. Aiming at the change of motion state caused by convex deformation, an extended state observer (ESO) and an integral backstepping controller based on the beetle antennae search algorithm (BAS-Integral backstepping) were designed to control the motion of PIPR. It can reduce the influence of convex deformation on the motion. Through parameters optimization, the position error can be reduced by 97.7%. In order to solve the speed excursions caused by the large-scale complex deformation of the pipeline under long-term service, an Actor-Critic controller was proposed to control the velocity. It can adjust the driving torque of the PIPR through self-learning to adapt to the pipeline deformation. The effectiveness of the controller was verified by two cases. The results showed that the average velocity errors were controlled at about 3% and 5.2%, respectively. The proposed method can realize the motion control of PIPR under pipeline deformation excitation and improve the accuracy of detection results.

关键字：Pipeline isolation plugging robot; Shock vibration; Pipeline deformation; ESO; BAS -Integral backstepping; Actor-critic

ISSN号：0029-8018

卷、期、页：卷: 266子辑: 1

发表日期：2022-12-15

影响因子：3.794800

期刊分区（SCI为中科院分区）：三区

收录情况：SCIE（科学引文索引网络版）,地学领域高质量科技期刊分级目录（国外T1）,EI（工程索引）

发表期刊名称：OCEAN ENGINEERING

通讯作者：苗兴园,宋福霖,马英涵

第一作者：赵弘

论文类型：期刊论文

论文概要：苗兴园,赵弘,宋福霖,马英涵，Dynamic characteristics and motion control of pipeline robot under deformation excitation in subsea pipeline，OCEAN ENGINEERING，2022，卷: 266子辑: 1

论文题目：Dynamic characteristics and motion control of pipeline robot under deformation excitation in subsea pipeline