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Motion analysis and control of the pipeline robot passing through girth weld and inclination in natural gas pipeline.

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Title: Motion analysis and control of the pipeline robot passing through girth weld and inclination in natural gas pipeline.
Authors: Miao, Xingyuan1 (AUTHOR), Zhao, Hong1 (AUTHOR) hzhao_cn@163.com, Gao, Boxuan1 (AUTHOR), Ma, Yinghan1 (AUTHOR), Hou, Yanguang1 (AUTHOR), Song, Fulin1 (AUTHOR)
Source: Journal of Natural Gas Science & Engineering. Aug2022, Vol. 104, pN.PAG-N.PAG. 1p.
Subjects: Motion analysis, Natural gas pipelines, Welded joints, Robot control systems, Pipelines, Welding
Abstract: In-pipe inspection and maintenance technology based on pipeline robots are effective means to achieve the safe transportation of oil and gas. The dynamic characteristics of the pipeline robot change when passing through the girth weld and changes in pipeline inclination, which can affect the accuracy of the detection results and cause damage to the robot. This paper studies the modular pipeline isolation plugging robot (PIPR). The Active Disturbance Rejection Control method based on the Whale Optimization Algorithm (WOA-ADRC) and a controller based on Sarsa(λ) algorithm were proposed to manage the influences of girth weld and pipeline inclination, respectively. The dynamic model of the PIPR under the action of fluid was established. Through dynamic simulation and experiments, the dynamic response of the PIPR passing through the girth weld was studied when its velocities and attitudes were changed. In addition, the relationships between the axial vibration caused by the girth weld and the velocities and attitudes were analyzed. The WOA-ADRC controller was proposed to control the motion of the PIPR to reduce the effect of the girth weld during movement. The velocity error could be controlled within 0.003 m/s through parameter optimization. To reduce the speed excursions of the PIPR caused by the changes in pipeline inclination, the Sarsa(λ) controller was proposed to adjust the PIPR's driving torque. The velocity error could be controlled within 0.034 m/s under the changes of pipeline inclination. The results showed that the axial vibration caused by the girth weld was more intense with the increase of the motion velocity. Furthermore, the axial vibration was the most evident when the attitude angle was 60°. The proposed methods could effectively control the motion of the PIPR when passing through the girth weld and change in inclination, which improved the reliability of the detection results. • The composite-driving PIPR with traction/brake module was proposed. • Dynamic model of composite-driving PIPR was established. • WOA-ADRC controller was proposed for velocity control of PIPR under girth weld. • Sarsa(λ) controller was designed for the change in pipeline inclination. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Natural Gas Science & Engineering is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 157909991
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
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  Label: Title
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  Data: Motion analysis and control of the pipeline robot passing through girth weld and inclination in natural gas pipeline.
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  Data: <searchLink fieldCode="AR" term="%22Miao%2C+Xingyuan%22">Miao, Xingyuan</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Zhao%2C+Hong%22">Zhao, Hong</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> hzhao_cn@163.com</i><br /><searchLink fieldCode="AR" term="%22Gao%2C+Boxuan%22">Gao, Boxuan</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Ma%2C+Yinghan%22">Ma, Yinghan</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Hou%2C+Yanguang%22">Hou, Yanguang</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Song%2C+Fulin%22">Song, Fulin</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Journal+of+Natural+Gas+Science+%26+Engineering%22">Journal of Natural Gas Science & Engineering</searchLink>. Aug2022, Vol. 104, pN.PAG-N.PAG. 1p.
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  Data: <searchLink fieldCode="DE" term="%22Motion+analysis%22">Motion analysis</searchLink><br /><searchLink fieldCode="DE" term="%22Natural+gas+pipelines%22">Natural gas pipelines</searchLink><br /><searchLink fieldCode="DE" term="%22Welded+joints%22">Welded joints</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+control+systems%22">Robot control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Pipelines%22">Pipelines</searchLink><br /><searchLink fieldCode="DE" term="%22Welding%22">Welding</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: In-pipe inspection and maintenance technology based on pipeline robots are effective means to achieve the safe transportation of oil and gas. The dynamic characteristics of the pipeline robot change when passing through the girth weld and changes in pipeline inclination, which can affect the accuracy of the detection results and cause damage to the robot. This paper studies the modular pipeline isolation plugging robot (PIPR). The Active Disturbance Rejection Control method based on the Whale Optimization Algorithm (WOA-ADRC) and a controller based on Sarsa(λ) algorithm were proposed to manage the influences of girth weld and pipeline inclination, respectively. The dynamic model of the PIPR under the action of fluid was established. Through dynamic simulation and experiments, the dynamic response of the PIPR passing through the girth weld was studied when its velocities and attitudes were changed. In addition, the relationships between the axial vibration caused by the girth weld and the velocities and attitudes were analyzed. The WOA-ADRC controller was proposed to control the motion of the PIPR to reduce the effect of the girth weld during movement. The velocity error could be controlled within 0.003 m/s through parameter optimization. To reduce the speed excursions of the PIPR caused by the changes in pipeline inclination, the Sarsa(λ) controller was proposed to adjust the PIPR's driving torque. The velocity error could be controlled within 0.034 m/s under the changes of pipeline inclination. The results showed that the axial vibration caused by the girth weld was more intense with the increase of the motion velocity. Furthermore, the axial vibration was the most evident when the attitude angle was 60°. The proposed methods could effectively control the motion of the PIPR when passing through the girth weld and change in inclination, which improved the reliability of the detection results. • The composite-driving PIPR with traction/brake module was proposed. • Dynamic model of composite-driving PIPR was established. • WOA-ADRC controller was proposed for velocity control of PIPR under girth weld. • Sarsa(λ) controller was designed for the change in pipeline inclination. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Journal of Natural Gas Science & Engineering is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1016/j.jngse.2022.104662
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 1
        StartPage: N.PAG
    Subjects:
      – SubjectFull: Motion analysis
        Type: general
      – SubjectFull: Natural gas pipelines
        Type: general
      – SubjectFull: Welded joints
        Type: general
      – SubjectFull: Robot control systems
        Type: general
      – SubjectFull: Pipelines
        Type: general
      – SubjectFull: Welding
        Type: general
    Titles:
      – TitleFull: Motion analysis and control of the pipeline robot passing through girth weld and inclination in natural gas pipeline.
        Type: main
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          Name:
            NameFull: Miao, Xingyuan
      – PersonEntity:
          Name:
            NameFull: Zhao, Hong
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            NameFull: Gao, Boxuan
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            NameFull: Ma, Yinghan
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            NameFull: Hou, Yanguang
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            NameFull: Song, Fulin
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          Dates:
            – D: 01
              M: 08
              Text: Aug2022
              Type: published
              Y: 2022
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            – Type: issn-print
              Value: 18755100
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              Value: 104
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            – TitleFull: Journal of Natural Gas Science & Engineering
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