Optimization Design and Exploration of Locomotion Posture for Serpentine Pipeline Robots

During the inspection process of seamless steel tubes, the circumferential dynamic deviation of the multi-hub serpentine robot complicates the accurate estimation and control of its axial operating state. To address this challenge, this paper introduces an innovative control method integrating an improved discrete PID with IMU feedback, and thoroughly examines its fundamental principles, modeling strategies, and simulation analyses. This system boasts low overshoot, high steady-state accuracy, and swift response, all while minimizing the occupation of system resources, which is advantageous for realizing time-sharing control by the superordinate system. Additionally, the system is capable of dynamically adjusting the hub motors with minimal control cycles, effectively preventing motor vibrations and severe overheating issues.