Depth control for storage tank in-service inspection robot based on artificial intelligence control

The purpose of this paper is to propose a buoyancy-gravity adjustment device and a fuzzy intelligent controller for the depth control of a storage tank in-service inspection robot.

The structure of the robot is first designed based on the construction of the bottom of a crude oil tank and explosion-proof requirements. The buoyancy-gravity adjustment system is used to control the vertical movement of the robot. The motion analysis of the robot indicates that the diving or rising process is influenced by hydrodynamic force and umbilical cord tension. Considering the nonlinear model in-depth control, a fuzzy intelligent controller is proposed to address the depth control problem. The primary fuzzy controller is used to compensate for initial error with fast response. The secondary fuzzy controller is activated by an intelligent switch to eliminate the steady error.

The proposed fuzzy controller can better solve the complicated hydrodynamic problem of the coupling of umbilical cord and the robot during depth control by classifying the error values of depth, velocity and acceleration.

The buoyancy-gravity adjustment device and the depth control system of the robot can move through the heating coils by safe and accurate diving or rising.