Sliding Mode Speed Control Method of Backstepping Nonsingular Terminal Based on In-Pipe Detector

• Published in: 2024 Second International Conference on Cyber-Energy Systems and Intelligent Energy (ICCSIE) pp. 1 - 6
• Main Authors: Chen, Zhiheng, Wang, Gang, Zhang, Wenbin, Ding, Hongxin, Cui, Mingguang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 17.05.2024
• Subjects: Backstepping; backstepping non singular algorithm; Detectors; In-pipe detector; Mathematical models; Observers; Pipelines; Real-time systems; Regulation; Robustness; synovial control; Valves; Velocity control
• DOI: 10.1109/ICCSIE61360.2024.10698413

Stable operating speed is a prerequisite for detecting defects in the pipeline detector. This article establishes a mathematical model of an in-pipe detector based on butterfly valves, and uses a backstepping non singular terminal sliding mode controller based on an extended state observer to achieve speed control of the in-pipe detector. Firstly, a dynamic model of the velocity controller for the detector inside the butterfly valve tube is proposed, which has the characteristic of real-time variation of valve area over time. Finally, a BNTSM controller was designed to control the speed of the detector in the pipeline. The results show that the designed BNTSM speed controller has certain robustness and universality, and can stably track the expected speed of the detector in the pipeline. This design is reasonable and effective, meeting the requirements of object detection, and has reference significance for subsequent research on the speed regulation of detectors in pipelines.