Design of motion control system of butt girth welds scanner for oil and gas pipeline

Because of the special working environment, the butt girth welds of oil and gas pipelines were inevitably damaged. Automatic ultrasonic testing (AUT) equipment for pipeline girth weld was designed to monitor the girth welds. The motion control system of scanner was the most important component of the AUT equipment. The mathematical model of closed-loop speed control system for traveling framework was established and simulated. Then a motion control system was designed, including SCM (Single Chip Micyoco) control module, power driven module and communication module. The engineering model machine was tested, and the experimental results satisfied the engineering requirements.