Control System and Experimental Study of Sewage Aeration Pipe Maintenance Robot

Aeration tube is a kind of aeration equipment used for sewage treatment, and the aeration tube in the process of sewage aeration is prone to clogging, affecting the aeration effect. At present, often used in the form of artificial diving to replace the aeration tube, there is a high degree of danger, low efficiency and high cost problems, and there is no automated products in the industry. In this regard, a robot was designed for the replacement and maintenance of the aeration tube. Combined with the repeated positioning and clamping problems in the pipe replacement process, the positioning device and pipe replacement device were designed, and its working principle was described. The PID and fuzzy PID control models of fixed-depth motion and turning bow motion were established using MATLAB/Simulink, and the simulation verified the rapidity and stability of the fuzzy PID. The maintenance robot experimental bench was processed and built, and the feasibility of the pipe changing action was verified by conducting experiments according to the designed action flow.