Pipeline Robot Drive Anti-Skid Control Algorithm Research

Aiming at the problems that crawler pipeline robots run in complex pipelines for a long time, the crawler will slip when encountering obstacles such as silt and the motor torque is easy to be too large in serious cases and the robot is easy to roll over, this paper proposes an intelligent control algorithm based on fuzzy PID to control the slip rate of crawler pipeline robots, so that the crawler pipeline robots have certain adaptability and autonomy. In order to prove the effectiveness of the fuzzy PID control algorithm, an anti-slip control model of the crawler pipeline robot drive is constructed in the SimuLink module of Matlab, and a disturbance module is especially added to mimic the robot blocking situation in real situations to simulate and verify the reliability of the algorithm.