88 / 2025-04-11 20:28:08

Motion Control of Natural Gas Pipeline Inspection Robot Based on Model Predictive Control

Pipeline robots,natural gas pipelines,model predictive control,dynamic modeling

This study investigates motion control of self-driven pipeline inspection robots under complex fluid dynamics. Dynamic models integrating centrifugal effects and the fluid dynamics of natural gas are established for both straight and curved pipe segments. A model predictive control (MPC) strategy with actuator constraints and disturbance rejection capabilities coordinates velocity tracking and attitude stabilization. Simulations demonstrate rapid speed convergence in straight pipes and effective centrifugal oscillation suppression in curved pipes within drive limits. Experimental validation confirms the robustness of the MPC framework against nonlinear dynamics and time-varying disturbances, advancing the practical implementation of pipeline inspection robot.