介质压差式管道机器人速度波动机理研究

摘要

摘 要:对介质压差式管道机器人速度波动机理进行了研究。分析了影响机器人速度波动的外部因素,认为摩擦阻力突变、流体介质的压缩效应和机器人速度的反作用是速度波动产生的原因。根据管道机器人运动状态和摩擦阻力突变趋势的不同,将速度波动现象分为三种情况,并分别进行了受力分析和力学模型的简化,应用MATLAB软件进行数值仿真分析,确定了不同参数对速度波动的影响规律。Abstract: Medium pressure type pipe robot speed fluctuation mechanism is studied. By analyzing the external factors that impact robot speed fluctuations, we consider that the causes of speed fluctuation are Frictional resistance mutations. Compression effect of Fluids medium and the reaction of robot speed. According to the different between the motion state of pipe robot and frictional resistance mutation trend, we divide the speed fluctuation into three cases, make out the Stress Analysis and simplify mechanical model, and make numerical simulation by using Matlab to determine the speed fluctuations law on different parameters.