Morphological Adaptation for Speed Control of Pipeline Inspection Gauges: From System Integration to Real-World Demonstration
Tachadol Suthisomboon, Sujet Phodapol, Thipawan Pairam, Kitti Phongaksorn, Naris Asawalertsak, Pakpoom Kriengkomol, Tanapoom Jitnaknan, Petch Janbanjong, Poramate Manoonpong
Abstract
This short paper with a video demonstration presents an add-on adaptive speed control module designed for pipeline inspection gauges (PIGs). The module integrates multiple sensors, a rotary valve unit with an actuator, and an embedded controller. The module’s speed control is realized by adjusting the valve angle (morphological adaptation), which modulates bypass flow and, subsequently, moving speed. An Extended Kalman Filter (EKF) is utilized for sensor fusion and module speed estimation. Closed-loop Proportional–Derivative (PD) control automatically adjusts the valve angle or adapts the module morphology based on the difference between estimated and desired speeds, ensuring precise speed regulation. The module’s performance is evaluated and demonstrated in an industrial pipeline environment under various fluid flow rates.