CN104729665A - Flexible cantilever slab vibration detection device and method based on binocular vision - Google Patents
Flexible cantilever slab vibration detection device and method based on binocular vision Download PDFInfo
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Abstract
The invention discloses a flexible cantilever slab vibration detection device and method based on binocular vision. The detection device comprises a left CCD camera and a right CCD camera. One end of a flexible cantilever slab is the fixed end, and one end of the flexible cantilever slab is the free end. A first resistance strain gauge sensor and a second resistance strain gauge sensor are pasted on the flexible cantilever slab. Matts are drawn in the front of the flexible cantilever slab. The first resistance strain gauge sensor and the second resistance strain gauge sensor detect bending vibration and torsion information of the flexible cantilever slab. After being amplified through a charge amplifier, analog signals are converted into digital signals through an A/D conversion card, then the digital signals are input into a computer, the left CCD camera and the right CCD camera provided with lenses detect the vibration information of the matts in the front of the flexible cantilever slab and transmit the vibration information to the computer, double CCD camera sensors are utilized for solving three-dimensional coordinates of line intersection points of the matts on the cantilever slab according to the parallax principle, and therefore the vibration information of the points can be obtained. Accordingly, the bending and torsion vibration information of the cantilever slab can be obtained.
Description
Technical field
The present invention relates to the detection field of large-scale cantilever design, particularly a kind of flexible cantilever panel vibration pick-up unit based on binocular vision and method.
Background technology
Flexibility, maximization are an important development trend of all kinds of space structure, and lightweight construction can increase the weight of useful load, improve the efficiency of delivery vehicle; Large scale structure can increase the dirigibility of the function in space and Spacecraft guidance and control, manufacture.But, because large-size pliable structure rigidity is low, flexibility large, when running in without the space of extrernal resistance, be very easily subject to external drive effect and produce long-term low frequency Large Amplitude Vibration, the vibration of flexible cantilever plate comprises the vibration of low frequency bending and torsion modal coupling.Need to measure low-frequency vibration, analyze vibration characteristics, control the vibration of flexible structure, to ensure the normal work of flexible structure and upper various exact instrument thereof.
In existing technology, adopt flexible cantilever plate structure simulated space windsurf board, the bending and torsion modal vibration of research structure is measured and ACTIVE CONTROL, the senser elements such as main employing piezoelectric patches, acceleration transducer, marmem, angular rate gyroscope sensor, photoelectrical position sensor and fiber-optic grating sensor, by distributing sensor rationally, realize measurement and the ACTIVE CONTROL of bending and torsion mode.But piezoelectric and marmem are due to factors such as self-strength, fatigue lifetime and heat resistances, and application is subject to certain restrictions; Acceierometer sensor and angular rate gyroscope sensor are to noise-sensitive, there is its precision of problems affect such as sluggish and temperature drift, and certain any displacement can only to be measured on object, want to obtain full detail, several accelerometer or angular rate gyroscope must be arranged respectively on a cantilever beam; The measurement range of photoelectrical position sensor compared with little, complex structure, operation easier is large, computation process is loaded down with trivial details and cost intensive; The topmost problem of fiber-optic grating sensor is the demodulation of transducing signal, because fiber grating is more fragile, is very easy to destroy, could uses, packaging technology and safeguard measure complex structure after thus needing to encapsulate it in harsh environments.
In the research of large-size pliable structure vibration survey and ACTIVE CONTROL, binocular vision non-cpntact measurement is utilized to have the advantage of its uniqueness, and can also quick obtaining measurement data.Binocular vision is not when contacting testee surface, do not change the characteristics such as the frequency of vibrating object, amplitude, compare with monocular vision, binocular vision can calculate the three-dimensional coordinate of spatial point, the parameter information of the structural vibration of object multiple spot can be obtained, and be not only confined to the advantages such as the vibration information of a bit.
Summary of the invention
In order to overcome the shortcoming of prior art existence with not enough, the invention provides that a kind of structure is simple, stable performance, the flexible cantilever panel vibration pick-up unit based on binocular vision of efficiently and accurately and method, realize the noncontact to flexible cantilever plate multiple spot vibration displacement, in real time Measurement accuracy.
The present invention adopts following technical scheme:
A kind of flexible cantilever panel vibration pick-up unit based on binocular vision, comprise flexible cantilever plate, described flexible cantilever plate one end is fixed by machinery mount clamping device, be called stiff end, the other end is free end, resistance strain gage sensor comprises two, be respectively first, second resistance strain gage sensor, be pasted onto on flexible cantilever plate, matts is decorated with in the front of described flexible cantilever plate, also comprise a left side, two, the right side is configured with the CCD camera of camera lens, described two CCD camera are arranged on the front, front of flexible cantilever plate, and distance of camera lens flexible cantilever plate front is 450mm ~ 650mm, two CCD camera are on same level position, and in testing process matts in the visual field of two CCD camera,
First, second resistance strain gage sensor described detects flexural vibrations and the information of torsion of flexible cantilever plate, after charge amplifier amplifies, converts simulating signal to digital signal, then be input to computing machine through A/D transition card;
Described left and right two CCD camera being configured with camera lens detect the vibration information of flexible cantilever plate front matts, are transferred to computing machine.
Described left and right two horizontal ranges being configured with the CCD camera of camera lens are 200mm, and distance of camera lens flexible cantilever plate front is 450mm-650mm.
Described first resistance strain gage sensor comprises two resistance strain gages, and be pasted onto the longitudinal midline place near flexible cantilever plate stiff end, attitude angle is 0 °, and two sides symmetry is pasted, every face a slice and being connected in parallel;
Described second resistance strain gage sensor comprises four resistance strain gages, and be pasted onto distance flexible cantilever plate stiff end 100-300mm place, attitude angle is 0 °, the symmetrical stickup in two sides, every face two panels and being connected in parallel.
Longitudinal pitch in described matts between lines is 150mm, and horizontal spacing is 125mm.
Also comprise LED light source.
Described matts has obvious characteristic, and described obvious characteristic specifically refers to and the coloured otherness of flexible cantilever plate tool, and the intersection point of described matts is symmetrical about flexible cantilever plate longitudinal midline.
A detection method for vibration detection device, comprises the steps:
The CCD camera system of the first step to two configuration camera lenses is demarcated, and described demarcation comprises sets up coordinate system, and the conversion between coordinate system, then demarcates single camera, completes the coupling of left images plane respective point;
Second step two CCD camera obtain the image sequence of the bending and torsion vibration information of flexible cantilever plate, by USB interface, image sequence are transferred to computing machine;
3rd step is respectively according to the first two field picture of two cameras, utilize the initial three-dimensional coordinate of each intersection point in principle of parallax determination matts, then according to each cross-point locations maximum changing range of Image Acquisition matts of two cameras in follow-up left and right, the image ROI of the subregion of each intersection point is determined;
4th step adopts OTSU thresholding method to extract the feature of intersection point in the subregion image ROI of each intersection point, utilizes principle of parallax to determine the three-dimensional coordinate of each intersection point;
The initial three-dimensional coordinate that 5th step obtains according to the 3rd step and the three-dimensional coordinate that the 4th step obtains calculate the displacement of each intersection point in all directions, and described all directions comprise x-axis, y-axis, z-axis, obtain the bending and torsion vibration information of flexible cantilever plate multiple spot.
Described 5th step is specially:
When flexible cantilever plate is static, according to principle of parallax, the three-dimensional coordinate of any one lines joining of matts is set to x
0, y
0, z
0;
When flexible cantilever plate starts to vibrate, if the three-dimensional coordinate of corresponding point is (x
1(t), y
1(t), z
1(t));
Then obtaining the displacement of matts any point in x-axis direction is △ x (t)=x
1-x
0, the displacement in y-axis direction is △ y (t)=y
1-y
0, the displacement in the z-axis direction of the front surface of vertical flexible cantilever plate is △ z (t)=z
1-z
0;
The displacement in the intersection point z-axis direction on flexible cantilever plate longitudinal centre line is designated as △ z
0t (), then the flexural vibrations displacement signal obtaining longitudinal centre line is z
w(t)=△ z
0t (), by symmetrical about flexible cantilever plate longitudinal centre line and the displacement of two corresponding intersection point Z-directions is designated as △ z respectively
1(t), △ z
2(t);
Then obtain the flexural vibrations displacement signal of any point of crossing of matts
twisting vibration displacement signal
wherein △ z
0(t), △ z
1(t), △ z
2t () is displacement signal, t is the time.
Beneficial effect of the present invention:
(1) utilize the multiple spot dynamic displacement of Machine Vision Detection flexible structure, there is the advantages such as noncontact, measurement range are wide, the vibration characteristics that do not change measured object.Measuring method in the present invention does not need to install any additional device or equipment on flexible board, does not change the physical attribute of flexible structure, improves measuring accuracy;
(2) machine vision can participate in measuring in the environment of light appropriateness.Adopt LED light source to throw light in the present invention, and the power of light regulating can be carried out by artificial means, thus suitable measurement environment can be built, be better than adopting and paste the higher fragility piezoceramic material of requirement;
(3) adopt binocular vision detection method in the present invention, compare with monocular vision detection method, binocular vision can the three-dimensional coordinate of object in computer memory, the state of restore target thing, the vibration information of unique point on the face can extracting flexible cantilever plate;
(4) abundant information in image, and there is the advantage of global information.Adopt different image processing methods, except the flexural vibrations displacement of flexible board, the information of twisting vibration displacement can be obtained, other parameter informations can also be obtained, there is the advantage that other sensors are incomparable;
(5) mechanical device structure of the present invention's design simple, detect simple, convenient enforcement and applied range, and two video cameras can flexibly up and down, move left and right.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is cantilever slab front resistance strain gage sensor and matts configuration distribution schematic diagram in Fig. 1;
Fig. 3 is the front view of the overall construction drawing of Fig. 1, as seen from the figure CCD camera horizontal installation position and height installation site;
Fig. 4 is cantilever slab and double camera (CCD camera) placement location right side view in Fig. 1;
Fig. 5 is the top view of the overall construction drawing of Fig. 1, as seen from the figure the distribution of two CCD camera in left and right and LED light source;
Fig. 6 is that binocular vision (two CCD camera) is according to the principle schematic of principle of parallax measurement space point three-dimensional coordinate.
Shown in figure: 1-base, 2-fixed bar base, 3-machinery mount clamping device, the 4-the first resistance strain gage sensor, 5-the second resistance strain gage sensor, 6-matts, 7-flexible cantilever plate, 8-camera lens, 9-CCD camera, 10-LED light source, 11-camera support bar, 12-camera support base.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As Figure 1-Figure 5, a kind of flexible cantilever panel vibration pick-up unit based on binocular vision, comprise flexible cantilever plate 7, described flexible cantilever plate 7 one end is fixed by machinery mount clamping device, is called stiff end, the other end is free end, resistance strain gage sensor comprises two, is respectively first, second resistance strain gage sensor 4,5, is pasted onto on flexible cantilever plate 7, described machinery mount clamping device 3 is fixed on fixed bar base 2, and described fixed bar base 2 is fixed on base 1;
Described first resistance strain gage sensor 4 comprises two resistance strain gages, is pasted onto the longitudinal midline place near flexible cantilever plate stiff end, and distance stiff end 50mm, and attitude angle is 0 °, and two sides symmetry is pasted, every face a slice and being connected in parallel;
Described second resistance strain gage sensor 5 comprises four resistance strain gages, is pasted onto distance flexible cantilever plate stiff end 100-300mm place, the present embodiment distance stiff end 200mm, and attitude angle is 0 °, the symmetrical stickup in two sides, every face two panels and being connected in parallel.
The front of described flexible cantilever plate is decorated with the matts 6 or 4 horizontal 4 with obvious characteristic and is erected, intersection point is symmetrical about longitudinal midline, described obvious characteristic refers to that the color of matts 6 and the color of flexible cantilever plate itself define striking contrast, therefore says that matts has the otherness that obvious characteristic refers to color.
The longitudinal pitch of described matts or 4 horizontal 4 perpendicular middle lines is 150mm, and horizontal spacing is 125mm.
Also comprise left and right two CCD camera 9 being configured with camera lens 8, described two CCD camera are arranged on the front, front of flexible cantilever plate, and distance of camera lens flexible cantilever plate front is 450mm ~ 650mm, described two CCD camera are fixed on camera support base 12 by camera support bar 11, two CCD camera are on same level position, and horizontal range is 200mm, and in testing process, remain that matts 6 is in the visual field of two CCD camera, also comprise LED light source 10, the detection that described LED light source is binocular vision provides light source.
First, second resistance strain gage sensor 4,5 described detects flexural vibrations and the information of torsion of flexible cantilever plate, after charge amplifier amplifies, converts simulating signal to digital signal, then be input to computing machine through A/D transition card;
Described left and right two CCD camera 9 being configured with camera lens detect the vibration information of flexible cantilever plate front matts, are transferred to computing machine.
Two, left and right CCD camera detects the vibration information of multiple intersection point on the matts of flexible board front, by USB interface image transmitting to computing machine, on computers the image that two CCD camera photograph is processed, extract the feature of intersection point on matts, just can obtain the vibration information of intersection point again through certain algorithm, thus the information that flexible panel structure low frequency bending and torsion vibrates can be reflected.
Based on a flexible cantilever panel vibration detection method for binocular vision, comprise the steps
The CCD camera system of the first step to two configuration camera lenses is demarcated, and described demarcation comprises sets up coordinate system, and the conversion between coordinate system, then demarcates single camera, completes the coupling of left images plane respective point, is specially:
Set up coordinate system: with the mid point O of the front surface of flexible cantilever plate (7) fixed edge
wfor true origin, set up world coordinate system O
w-X
wy
wz
w; With the photocentre O of left CCD camera
cfor initial point, set up camera coordinates system O
c-X
cy
cz
c; With first, image upper left corner pixel for initial point O
0, set up computing machine coordinate system O
0-UV; With the central point O of image
1for initial point, set up plane of delineation coordinate system O
1-XY.
The world coordinate system of any point (as P point) and the conversion of camera coordinate system in space, can describe with rotation matrix R and translation vector t:
Wherein, (x
c, y
c, z
c), (x
w, y
w, z
w) be respectively the coordinate of P point in camera coordinates system and world coordinate system.R is orthogonal matrices, and t is D translation vector, 0=[0 0 0]
t.
Under camera coordinate system, owing to there is the cause of camera lens projection imaging, it exists as down conversion to image coordinate system:
Wherein, (x, y) is the coordinate of P point in image, (x
c, y
c, z
c) be this coordinate in camera coordinates system, f is the lens focus of camera.Formula (2) with matrix representation is:
(1) formula is substituted in (3) formula and can obtain:
The initial point O of plane of delineation coordinate system (computing machine coordinate system)
0be positioned at the upper left corner of ccd image plane, U axle and V axle are respectively along width and the short transverse of image, and coordinate points (u, v) represents u row in image, the pixel that v is capable, UO
0v is the coordinate system in units of pixel.The intersection point of camera optical axis and image is O
1(u
0, v
0), this point is the center of image, and with this point for initial point, X-axis and Y-axis along width and the short transverse of image, set up coordinate system XO respectively
1y, this coordinate system is in units of millimeter.The physical size of each pixel in X-axis, Y direction is dx, dy respectively, then on image, any one pixel has following relation under two coordinate systems:
With matrix representation be:
(4) formula is substituted into (6) formula obtain:
In formula,
u
0, v
0four parameters are only relevant with camera internal structure, are called camera internal parameter; And the position of matrix R and vectorial t and camera and attitude relevant, and to have nothing to do with camera structure, be called camera external parameter.Determining the process of camera inside and outside portion parameter, is exactly camera calibration.
In the present invention, because the position of camera and attitude are fixed, therefore image coordinate system, camera coordinates system and world coordinate system are all fixing, the initial point of coordinate system is all on optical axis, only that position is different, and being vertically intersected on the center of image with image coordinate system, all the other Two coordinate axles of each coordinate system are respectively parallel and in the same way.Therefore camera coordinates system and the world sit and only there is translation between coordinate system and close the, and there is not rotation relationship, then:
In experimentation, by extracting the positional information of the unique point of black and white chessboard scaling board image, the corresponding relation between picture planimetric coordinates point and space coordinates coordinate points in computer vision can be determined, thus can determine
u
0, v
0with vectorial t five parameters.
Left and right camera has all been demarcated, then searches out object in left and right CCD camera as the respective point on plane picture, completes the coupling of two CCD as planar point.
The described flexible board low-frequency vibration detection apparatus and method based on double camera, it is characterized in that the determination of the three-dimensional coordinate of object, concrete grammar is as shown in Figure 6: two CCD camera image planes are in the same plane, and camera optical axis is parallel, and horizontal range is b.Q is more spatially, and its coordinate is Q (x, y, z).Two the same target Qs of CCD camera in synchronization shooting space, in left CCD image planes and right CCD image planes, obtain the image comprising target Q respectively, the coordinate of this target on two width images is respectively Q
1=(X
1, Y
1), Q
2=(X
2, Y
2).Because two CCD camera image planes are in the same plane, and camera optical axis is parallel, therefore has Y
1=Y
2=Y.Known by figure intermediate cam geometric relationship:
Because image " parallax " Parallax=X
1-X
2, can calculate the three-dimensional coordinate of impact point Q under camera coordinates system is thus:
Therefore, as long as two CCD camera can collect complete target image simultaneously, and in two images, the corresponding relation of target is set up by suitable matching algorithm, calculate target deviation Parallax in two images, be multiplied by CCD pixel dimension pixel again, obtain actual parallax, accurately can calculate the three-dimensional coordinate of target Q according to formula (10).
The described flexible board low-frequency vibration detection apparatus and method based on double camera, it is characterized in that the acquisition of the bending and torsion vibration information of flexible board, concrete grammar is: when flexible cantilever plate is static, according to principle of parallax, the three-dimensional coordinate at lines joining place is calculated, is set to (x
0, y
0, z
0).When flexible cantilever plate starts to vibrate, if the three-dimensional coordinate of corresponding point is (x
1(t), y
1(t), z
1(t)).The displacement that then can obtain x-axis direction is △ x (t)=x
1-x
0, the displacement in y-axis direction is △ y (t)=y
1-y
0, the displacement in the z-axis direction of the front surface of vertical flexible cantilever plate is △ z (t)=z
1-z
0.The displacement in the intersection point z-axis direction on flexible cantilever plate longitudinal centre line is designated as △ z
0t (), namely in the middle of matts, three point of intersection are on the longitudinal centre line of flexible cantilever plate, then the flexural vibrations displacement signal that can obtain longitudinal centre line is z
w(t)=△ z
0(t).Displacement about symmetrical and corresponding two the intersection point z-axis directions of flexible cantilever plate longitudinal centre line is designated as △ z respectively
1(t), △ z
2(t), then also can obtain flexural vibrations displacement signal is:
twisting vibration displacement signal is:
wherein △ z
0(t), △ z
1(t), △ z
2t () is displacement signal, t is the time.
Dotted line in Fig. 1 connects and represents electric signal and the connection layout detecting driving control device.
As shown in Figure 2, the first described resistance strain gage sensor 4 is pasted onto flexible board near stiff end longitudinal midline place, and distance stiff end 50mm, and two sides symmetry is pasted, 1, every face and being connected in parallel; Second resistance strain gage sensor 5 is pasted onto flexible board from stiff end 200mm place, and from flexible board longitudinal midline 125mm place, and two sides symmetry is pasted, 2, every face and being connected in parallel; The front of flexible cantilever plate is decorated with the matts of obvious characteristic and the longitudinal pitch between lines is 150mm, horizontal spacing is 125mm.
As shown in Figure 4, the right side view of cantilever slab and double camera (CCD camera) placement location.
In the present embodiment, the material selection epoxide resin material thin plate of flexible board, its physical dimension optional 1000mm × 500mm × 2mm, namely cross-directional length shown in Fig. 2 is 1000mm, and vertical direction length is 500mm, and thickness is 2mm.The elastic modulus of epoxy resin is E
pe=34.64GPa, density is ρ=1840kg/m
3.
In this example, BHF foil high-precision level of confidentiality series BX120-2AA type sensor-use resistance foil gauge selected by resistance strain gage sensor and resistance strain gage sensor, and the inner sensitive grid of foil gauge is of a size of long 2mm, wide 1mm, sensitivity coefficient 0.5%.
Two ccd sensors in left and right are made up of CCD camera, camera lens.Select the CCD camera of Ying Meijing company, its model is The Imaging Source DMK 23U445, and the image size of collection is 1280*960 pixel, and frame per second is 30 frames/second.Select the camera lens of company of Ricoh, its model is FL-HC0614-2M, and focal length is 6mm, and size is Φ 32mm × 35.7mm.The CPU model of the computing machine selected is Pentium G6202.6GHz, and internal memory 4G, has PCI slot in mainboard, can installation data acquisition and control card.The model that A/D translation data capture card can select Taiwan Advantech company to produce is PCL-818HD type hyperchannel A/D translation data capture card, and the conversion accuracy of A/D converter is 12, and input voltage range is set as ± 10V.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not limited by the examples; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (8)
1. the flexible cantilever panel vibration pick-up unit based on binocular vision, it is characterized in that, comprise flexible cantilever plate, described flexible cantilever plate one end is fixed by machinery mount clamping device, be called stiff end, the other end is free end, resistance strain gage sensor comprises two, be respectively first, second resistance strain gage sensor, be pasted onto on flexible cantilever plate, matts is decorated with in the front of described flexible cantilever plate, also comprise a left side, two, the right side is configured with the CCD camera of camera lens, described two CCD camera are arranged on the front, front of flexible cantilever plate, and distance of camera lens flexible cantilever plate front is 450mm ~ 650mm, two CCD camera are on same level position, and in testing process matts in the visual field of two CCD camera,
First, second resistance strain gage sensor described detects flexural vibrations and the information of torsion of flexible cantilever plate, after charge amplifier amplifies, converts simulating signal to digital signal, then be input to computing machine through A/D transition card;
Described left and right two CCD camera being configured with camera lens detect the vibration information of flexible cantilever plate front matts, are transferred to computing machine.
2. vibration detection device according to claim 1, is characterized in that, described left and right two horizontal ranges being configured with the CCD camera of camera lens are 200mm, and distance of camera lens flexible cantilever plate front is 450mm-650mm.
3. vibration detection device according to claim 1, is characterized in that, described first resistance strain gage sensor comprises two resistance strain gages, be pasted onto the longitudinal midline place near flexible cantilever plate stiff end, attitude angle is 0 °, and two sides symmetry is pasted, every face a slice and being connected in parallel;
Described second resistance strain gage sensor comprises four resistance strain gages, and be pasted onto distance flexible cantilever plate stiff end 100-300mm place, attitude angle is 0 °, the symmetrical stickup in two sides, every face two panels and being connected in parallel.
4. vibration detection device according to claim 1, is characterized in that, the longitudinal pitch in described matts between lines is 150mm, and horizontal spacing is 125mm.
5. vibration detection device according to claim 1, is characterized in that, also comprises LED light source.
6. vibration detection device according to claim 1, it is characterized in that, described matts has obvious characteristic, and described obvious characteristic specifically refers to and the coloured otherness of flexible cantilever plate tool, and the intersection point of described matts is symmetrical about flexible cantilever plate longitudinal midline.
7. the detection method of vibration detection device according to claim 1, is characterized in that, comprises the steps:
The CCD camera system of the first step to two configuration camera lenses is demarcated, and described demarcation comprises sets up coordinate system, and the conversion between coordinate system, then demarcates single camera, completes the coupling of left images plane respective point;
Second step two CCD camera obtain the image sequence of the bending and torsion vibration information of flexible cantilever plate, by USB interface, image sequence are transferred to computing machine;
3rd step is respectively according to the first two field picture of two cameras, utilize the initial three-dimensional coordinate of each intersection point in principle of parallax determination matts, then according to each cross-point locations maximum changing range of Image Acquisition matts of two cameras in follow-up left and right, the image ROI of the subregion of each intersection point is determined;
4th step adopts OTSU thresholding method to extract the feature of intersection point in the subregion image ROI of each intersection point, utilizes principle of parallax to determine the three-dimensional coordinate of each intersection point;
The initial three-dimensional coordinate that 5th step obtains according to the 3rd step and the three-dimensional coordinate that the 4th step obtains calculate the displacement of each intersection point in all directions, and described all directions comprise x-axis, y-axis, z-axis, obtain the bending and torsion vibration information of flexible cantilever plate multiple spot.
8. method according to claim 7, is characterized in that, described 5th step is specially:
When flexible cantilever plate is static, according to principle of parallax, the three-dimensional coordinate of any one lines joining of matts is set to x
0, y
0, z
0;
When flexible cantilever plate starts to vibrate, if the three-dimensional coordinate of corresponding point is (x
1(t), y
1(t), z
1(t));
Then obtaining the displacement of matts any point in x-axis direction is Δ x (t)=x
1-x
0, the displacement in y-axis direction is Δ y (t)=y
1-y
0, the displacement in the z-axis direction of the front surface of vertical flexible cantilever plate is Δ z (t)=z
1-z
0;
The displacement in the intersection point z-axis direction on flexible cantilever plate longitudinal centre line is designated as Δ z
0t (), then the flexural vibrations displacement signal obtaining longitudinal centre line is z
w(t)=Δ z
0t (), by symmetrical about flexible cantilever plate longitudinal centre line and the displacement of two corresponding intersection point Z-directions is designated as Δ z respectively
1(t), Δ z
2(t);
Then obtain the flexural vibrations displacement signal of any point of crossing of matts
twisting vibration displacement signal
wherein Δ z
0(t), Δ z
1(t), Δ z
2t () is displacement signal, t is the time.
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