LAUSR

Pipeline transportation, as one of the five major transportation methods, has its unique advantages, and its safety guarantee is particularly important. The inner detector is an important tool for pipeline inspection, and its stable real-time speed is an important guarantee to ensure the accuracy of the inspection results for pipeline safety. In this article, we propose an interval dynamic matrix control with additional margin (AM-IDMC), which achieves remarkable results for the speed control of the inner detector. First, we improve AM-IDMC and design a new penalty factor with adaptive dynamic trigger conditions. Second, we design a heuristic evolutionary algorithm N-level hierarchy optimization (NLHO) and give a complete algorithm flow. Then, for the real-time speed control problem of the inner detector, we propose three evaluation index functions, which can be adaptively combined into a comprehensive objective function according to the motion state of the inner detector. Finally, the experimental verification proves the effectiveness and feasibility of the NLHO algorithm on the real-time speed control problem of the inner detector by adaptive dynamic additional margin.