Electromagnetic Brake-Based Speed Control Method for In-Pipe Inspection Robots

Inside pipeline inspection robot technology has been increasingly used in the field of pipeline safety. Inside the pipeline, the stable running speed of the internal inspection robot is an important guarantee for high-precision and high-efficiency inspection. Due to the complex and variable working conditions inside the pipeline, the traditional speed control method has limitations such as slow response speed and difficulty in adapting to continuous disturbances. To address this problem, this paper proposes a speed control method based on electromagnetic braking. Firstly, we design a speed control structure that uses an energized solenoid to adsorb the pipe wall and thus adjust the frictional resistance. Secondly, the mathematical model of speed control based on electromagnetic braking is established by using the principles of fluid mechanics and electromagnetism. Then, a dynamic matrix control algorithm is introduced to control this speed control model; finally, the feasibility and effectiveness of the electromagnetic braking speed control mechanism in solving the speed control problem of the in-pipe inspection robot by combining the model prediction algorithm is experimentally verified.