Research on Cutting Control System of Insulation Layer of Insulation Pipe Based on Particle Swarm Impedance Control

To address insulation layer cutting precision issues that risk damaging internal steel pipes, a laser range-finder-based closed-loop position control scheme is proposed. Given the cutting object's significant stiffness variations, position impedance control is implemented. This enables adaptive cutting depth adjustment despite low pipe dimensional/installation accuracy, preventing steel pipe damage. MATLAB/Simulink simulations comparing position-based impedance control with traditional PID demonstrate superior dynamic depth adjustment, faster response, and reduced overshoot - establishing a foundation for ensuring insulation layer cutting quality.