Research on Cutting Control System of Insulation Layer of Insulation Pipe Based on Position Impedance Control

Aiming at the problem that the existing mechanical system often causes damage to the internal steel pipe due to the lack of precision when cutting the insulation layer, a closed-loop position control scheme based on laser range-finder is proposed. According to the characteristics of large stiffness changes of the cutting object, the cutting control method based on position impedance is adopted. The cutting depth can be adjusted adaptively under the condition of low insulation pipe size and installation accuracy, and the phenomenon of cutting into the internal steel pipe is avoided. MATLAB/Simulink software is used to simulate the control performance of the system, and the effect of the position-based impedance control and the traditional PID control is compared. The results show that the design can meet the requirements of dynamic adjustment of the cutting depth of the insulation layer of the insulation pipe, and has a faster response speed and a smaller overshoot. These laid the foundation for ensuring the cutting quality of steel pipe insulation layer.