LAUSR

Inpipe inspection technology is an important method for pipelines detection, and the smooth running speed of the inner detector is a prerequisite for ensuring the quality of inspection. Since the inner detector runs as a black box in the pipeline, it is difficult to observe the current speed state, and the energy source it carries is limited. To overcome the above problems, this article proposes an interval dynamic matrix control algorithm with additional margin (AM-IDMC). First, as an optimized control strategy, interval control can suppress disturbances and reduce energy consumption with smaller actions, which is a novel way to solve the speed control problem of the inner detector. Second, the dynamic matrix control can effectively predict the speed of the inner detector. At the same time, the additional margin method can avoid the actual speed from violating the expected interval to the greatest extent, allowing the controller to intervene in the control as soon as possible. Third, an adaptive penalty coefficient and interval reference trajectory are designed to ensure the rapidity and stability of the speed adjustment process. This article also systematically and completely builds the speed control model of the inner detector from pressurizing station and discharge device. The results have demonstrated that the AM-IDMC algorithm has good performance and has a good effect on the speed control of the inner detector.