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In order to control the new pipe dredging robot more accurately and ensure the stable operation of the robot in the harsh environment, the motion control system of the robot is designed and the PI algorithm based on double closed-loop speed control system for walking unit of wheeled mechanism is studied. According to the Simulations by Simulink and experimentations of the above control methods, it was indicated that the motor speed can be stabilized at the set speed value under the disturbance of load change, and the dynamic performance is also stable. Finally, a double closed-loop speed control system with strong anti-load fluctuation capability is adopted. The control method satisfied the requirements of the working condition of the robot in a complex environment and realized that the precise control of the motion state of the robot.

The Research on Control System of Pipeline Dredging Robot based on Simulink