Sensor Fusion and Stability Analysis of a Spiral-Moving Pipeline Inspection Robot

• Main Authors: Weng, Tzu-Hsiang, 翁子翔
• Other Authors: Yeh, Ting-Jen
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/jb523s

碩士 === 國立清華大學 === 動力機械工程學系 === 106 === This research is on the development of a creative pipeline robot with spiral-moving capability. This pipeline inspection robot is a differential wheeled robot with a stretchable supporting arm adding an active direction wheel on the top. When the robot does the inspection work, the robot will stretch the supporting arm, and the normal force on the pipe wall can be maintained adequately. Furthermore, by adjusting the actuation wheels and the direction wheel, a spiral motion can be resulted. In the beginning, this research performs supporting force analysis and stability analysis on the stable spiral-moving attitude to know the conditions of the stable spiral movement. Then, based on the result of the attitude analysis, we deduce the kinematics model of the spiral motion of the robot, and gets the second- order direction angle equation model. In the measurement part, we use gyroscope to get the measurement of direction angle; moreover, we apply Kalman filter to optimize the measurement and to eliminate the noise. To make the trajectory controller more robust, we extend the order of equation to add an integrator; besides, we utilize variable transformation to make the direction angle states become direction angle error states. After that, use Pole Placement method to design controller gain. Finally, we conduct experiments to verify the performance of spiral motion in horizontal pipeline, inclined pipeline, and vertical pipeline with different pitches of spiral.