Research on Fuzzy Proportional-Integral-Derivative Motion Control Algorithm for Tunnel Defect Monitoring Robots

Aiming at the defects of segment opening, misalignment and water leakage in the multi-joint tunnels, and the difficulty of manual detection in the limited space, we develop a four-wheeled, rail-based defect monitoring robot for automatic tunnel defect monitoring. This paper mainly studies the motion control method of robot walking mechanism, the walking mechanism of the robot features a suspended rail-guided cart equipped with a quick detachable wheel and dual-motor drive, which together realize the mobile chassis' driving system. We implement a motor speed control method based on a fuzzy PID(Proportional- Integral-Derivative) controller, ensuring swift convergence to the robot's target rotation speed. Additionally, we construct an experimental platform to test the motion stability of the mobile mechanism under the fuzzy PID control.