AMESim-Simulink Based Control Analysis of the Sealing Packer System for an Eddy Current Pipeline Inspection and Repair Robot

Aiming at the difficulty of repairing internal defects in in-service oil and gas pipelines, as well as the advantages of high repair efficiency and high strength of formed parts in arc additive manufacturing, a pipeline internal repair robot based on arc additive manufacturing is designed. When robots enter oil and gas pipelines, they will encounter nonlinear factors such as fluid impact and pipeline micro deformation, which will affect the stability of the robot system. To improve the stability of robot work and its safety and efficiency during operation, a semi sealed pipeline structure and its hydraulic system are designed. Regarding the impact of factors such as uneven hydraulic cylinder load and load changes on system accuracy. A hydraulic circuit model was built using AMESim software, and sliding mode variable structure control, PID, and Fuzzy PID controller models were established based on Simulink, and joint simulations were conducted. The simulation results show that the sliding mode variable structure controller has good tracking performance. Compared with the PID controller, the Fuzzy PID controller reduces the rise time by 0.5s and the adjustment time by 10%. The system has fast adjustment speed, high stability, and displacement accuracy that can meet the expected standards for pipeline isolation.