Mathematical Model for Pipeline Control Applying in-Line Robotic Device

Background/Objectives: This article focuses on the development of a mathematical model of the robotic device to evaluate the range of its movement along the pipeline of a complex shape. Methods: The mathematical model is based on the mathematical description of the robot path, formation of the model for the robot movement process; calculation of cable pulling tension in some parts of the pipeline and along the entire control route; determining the robot traction force; determining the maximum distance of the robot movement. The mathematical model is implemented using MatLab software environment; its operativity can be verified by entering conventional settings in the program. Findings: The simulation result for the mathematical model of the robotic device in the MatLab software environment is a graph which shows a diagram of the controlled pipeline with regard to its configuration; graph which shows the robotic device advancement in the pipeline with a marked area where the operation will be stopped. Thus using the developed mathematical model makes it possible to calculate the length of the pipeline achievable for control taking into account the influence of the pipeline geometry and receive the data on each section of the monitored pipeline. Applications/Improvements: This mathematical model provides solution for timely inspection of corrosion damage in subsurface pipelines of small-diameter heating networks (DN200, DN400) of housing and public utilities in places inaccessible for external inspection.