CN104748693A - Blade profile torsion stiffness measurement system based on binocular stereo vision - Google Patents
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Abstract
本发明公开了一种基于双目立体视觉的桨叶剖面扭转刚度测量系统，包括双目立体视觉测量装置，桨叶根部固定，在待测剖面两侧各选择一个测试截面，每个测试截面附着两个靶点，所述测量装置的第一成像装置、第二成像装置的光轴均贯穿于所述两测试截面，并标定测量装置的内、外参数；在加载载荷前、后分别控制第一成像装置、第二成像装置同步采集附着靶点的两测试截面的空载图像及加载图像；采集的空载图像、加载图像提取靶点坐标，三维重建获取靶点在同一测量坐标系下空载和加载时的三维坐标；解析靶点在加载前、后的位置关系，并计算剖面扭转刚度。本发明可以精确获取待测桨叶的位形变化，提高测量精度，增加测量灵活性。
The invention discloses a system for measuring the torsional stiffness of blade section based on binocular stereo vision, which comprises a binocular stereo vision measurement device, the root of the blade is fixed, a test section is selected on both sides of the section to be measured, and each test section is attached Two target points, the optical axes of the first imaging device and the second imaging device of the measuring device both pass through the two test sections, and the internal and external parameters of the measuring device are calibrated; before and after loading the first imaging device is respectively controlled The first imaging device and the second imaging device synchronously collect the no-load images and loaded images of the two test sections attached to the target point; the collected no-load images and loaded images extract the coordinates of the target point, and the three-dimensional reconstruction obtains the target point in the same measurement coordinate system. Three-dimensional coordinates during loading and loading; analyze the positional relationship of the target point before and after loading, and calculate the torsional stiffness of the section. The invention can accurately acquire the configuration change of the blade to be measured, improve the measurement accuracy and increase the measurement flexibility.
Description
技术领域technical field
本发明涉及一种扭转刚度测量系统，尤其涉及一种基于双目立体视觉的直升机桨叶剖面扭转刚度测量系统，属于测试技术领域。The invention relates to a torsional stiffness measurement system, in particular to a binocular stereo vision-based torsional stiffness measurement system for a helicopter blade section, belonging to the technical field of testing.
背景技术Background technique
直升机是靠发动机驱动旋翼旋转产生升力和推进力，能在大气中垂直起降、悬停、定点回转、前飞、后飞和侧飞等可控飞行的飞行器。直升机主要由机体、旋翼、动力和传动系统组成，其中旋翼系统是直升机最明显的标志，也是直升机能够完成高机动性飞行的根本。旋翼系统由桨叶和桨毂构成，桨叶围绕桨毂中心做高速旋转，产生升力、前进力和操控力，从而实现直升机的飞行。直升机桨叶使用的材料经历了木质、木质金属混合、金属到复合材料的变革，在使用复合材料以后，直升机桨叶的气动外形、动力学特性、疲劳寿命、耐撞性都得到了极大的提高。Helicopter is an aircraft driven by the engine to rotate the rotor to generate lift and propulsion, and can take off and land vertically in the atmosphere, hover, rotate at a fixed point, fly forward, fly backward, and fly sideways. A helicopter is mainly composed of a body, rotor, power and transmission system, among which the rotor system is the most obvious symbol of the helicopter, and it is also the basis for the helicopter to complete high maneuverability flight. The rotor system is composed of blades and hubs. The blades rotate around the center of the hub at high speed to generate lift, forward force and control force, thereby realizing the flight of the helicopter. The materials used in helicopter blades have undergone changes from wood, wood-metal mixture, and metal to composite materials. After using composite materials, the aerodynamic shape, dynamic characteristics, fatigue life, and crashworthiness of helicopter blades have been greatly improved. improve.
复合材料桨叶的剖面挥舞、摆振和扭转刚度的分布规律比较复杂，而且是桨叶调频的重要因素。由于复合材料桨叶结构复杂，材料性能、内部组件的剖面尺寸常常受工艺因素影响难以准确取得，加之计算模型中含有大量的简化和与实际情况不完全相符的假设，所以复合材料桨叶剖面刚度的计算一般很难做到十分准确，这就需要通过实验手段测定桨叶各剖面在三个运动方向上的刚度。The distribution laws of profile flapping, shimmy and torsional stiffness of composite blades are complex, and they are important factors for blade frequency modulation. Due to the complex structure of composite blades, material properties and cross-sectional dimensions of internal components are often difficult to obtain accurately due to process factors, and the calculation model contains a lot of simplifications and assumptions that are not completely consistent with the actual situation, so the section stiffness of composite blades It is generally difficult to achieve very accurate calculations, which requires experimental means to measure the stiffness of each section of the blade in the three directions of motion.
在工程中，通过检测直升机桨叶在已知载荷作用下的变形，计算出桨叶某指定剖面的结构强度。目前对扭转变形的测量使用激光三角测距法监测待测剖面的变形。In engineering, by detecting the deformation of the helicopter blade under the known load, the structural strength of a specified section of the blade is calculated. The current measurement of torsional deformation uses laser triangulation to monitor the deformation of the section to be measured.
使用激光三角测距法测量桨叶扭转变形时，通过4个激光三角测距传感器检测桨叶在给定载荷下的扭转变形，如图1所示，进而得到桨叶剖面刚度。激光三角测距的特点是结构简单、体积小、精度高，适合测量微小位移，但是由于激光器在被测面上的投射点在桨叶变形前后很难保证在同一位置，如图1所示，粗实线翼型为变形前桨叶剖面位置，细实线翼型为变形后桨叶剖面位置，变形前激光器在被测面上的投射点为A点，跟随桨叶转动变形后A点转动到A′位置，但是变形后实际测量的为B点，所以使用激光三角测距法测量桨叶扭转变形的结果精度较低。When using the laser triangulation method to measure the torsional deformation of the blade, four laser triangulation sensors are used to detect the torsional deformation of the blade under a given load, as shown in Figure 1, and then the section stiffness of the blade is obtained. The characteristics of laser triangulation ranging are simple structure, small size, high precision, and suitable for measuring small displacements. However, it is difficult to ensure that the projection point of the laser on the measured surface is in the same position before and after the deformation of the blade, as shown in Figure 1. The thick solid line airfoil is the profile position of the blade before deformation, and the thin solid line airfoil is the profile position of the blade after deformation. The projection point of the laser on the measured surface before deformation is point A, which rotates with the rotation of the blade after deformation. to the position A', but the actual measurement after the deformation is point B, so the accuracy of the result of measuring the torsional deformation of the blade by laser triangulation is low.
针对现有激光三角测距法测量直升机桨叶剖面扭转变形中存在的诸多缺陷，亟需开发一种准备工作少、灵活性好、测量精度高的基于双目立体视觉的直升机桨叶剖面扭转刚度测量方法。In view of the many defects in the existing laser triangulation method for measuring the torsional deformation of the helicopter blade section, it is urgent to develop a torsional stiffness of the helicopter blade section based on binocular stereo vision with less preparation work, good flexibility, and high measurement accuracy. Measurement methods.
发明内容Contents of the invention
为了解决现有技术中存在的上述问题，本发明提供一种基于双目立体视觉的桨叶剖面扭转刚度测量方法，本发明可以测量桨叶翼型段的刚度，并大大简化了测量准备工作、增加测量灵活性和提高了测量精度。In order to solve the above-mentioned problems existing in the prior art, the present invention provides a method for measuring the torsional stiffness of the blade section based on binocular stereo vision. The present invention can measure the stiffness of the blade airfoil section, and greatly simplifies the measurement preparation work, Increased measurement flexibility and improved measurement accuracy.
本发明的技术方案是提供一种基于双目立体视觉的桨叶剖面扭转刚度测量系统，其设计要点在于：包括双目立体视觉测量装置，所述双目立体视觉测量装置包括第一成像装置、第二成像装置、同步控制器和控制主机，所述第一成像装置、第二成像装置和同步控制器电连接，同步控制器和控制主机电连接；同步控制器根据所接收的来自控制主机的控制电信号触发第一成像装置、第二成像装置同步进行图像采集；The technical solution of the present invention is to provide a blade section torsional stiffness measurement system based on binocular stereo vision. The second imaging device, the synchronous controller and the control host, the first imaging device, the second imaging device and the synchronous controller are electrically connected, and the synchronous controller is electrically connected to the control host; The control electrical signal triggers the first imaging device and the second imaging device to perform image acquisition synchronously;
采用所述双目立体视觉测量装置测量桨叶剖面扭转刚度包括以下步骤：Using the binocular stereo vision measurement device to measure the torsional stiffness of the blade section comprises the following steps:
S1，刚性固定待测桨叶，把待测桨叶的桨根部刚性同定在刚性支架上，使其无运动自由度，在待测桨叶的另一端固定用于施加载荷的加载夹具；S1, rigidly fix the blade to be tested, rigidly fix the blade root of the blade to be tested on the rigid support so that it has no freedom of movement, and fix a loading fixture for applying load at the other end of the blade to be tested;
S2，选择两测试截面，在所述待测桨叶上选择两个与其长度方向相垂直的第一测试截面和第二测试截面，所述第一测试截面和第二测试截面分别位于待测桨叶的待测剖面的两侧，在第一测试截面上附着两个相间的靶点，在第二测试截面上附着两个相间的靶点；S2, select two test sections, select two first test sections and second test sections perpendicular to its length direction on the blade to be tested, the first test section and the second test section are respectively located on the paddle to be tested On both sides of the section to be measured of the leaf, two alternate target points are attached on the first test section, and two alternate target points are attached on the second test section;
S3，设置成像装置，将双目立体视觉测量装置的第一成像装置、第二成像装置固定在待测桨叶的上方，第一成像装置、第二成像装置的光轴均贯穿于所述两测试截面，标定第一成像装置、第二成像装置的内部参数，以及第一成像装置、第二成像装置之间的外部参数；S3, the imaging device is set, and the first imaging device and the second imaging device of the binocular stereo vision measuring device are fixed on the top of the blade to be tested, and the optical axes of the first imaging device and the second imaging device run through the two The test section is used to calibrate the internal parameters of the first imaging device and the second imaging device, and the external parameters between the first imaging device and the second imaging device;
S4，图像采集，在加载载荷前，控制第一成像装置、第二成像装置同步采集附着靶点的第一测试截面和第二测试截面的空载图像；S4, image acquisition, before loading the load, control the first imaging device and the second imaging device to synchronously collect the no-load images of the first test section and the second test section attached to the target;
通过加载夹具施加载荷，在待测桨叶稳定后，控制第一成像装置、第二成像装置同步采集附着靶点的第一测试截面和第二测试截面的加载图像；Applying a load through the loading fixture, after the blade to be tested is stabilized, controlling the first imaging device and the second imaging device to synchronously collect the loading images of the first test section and the second test section attached to the target point;
S5，三维重建，对所述第一成像装置、第一成像装置获取的空载图像和加载图像分别进行特征提取，获取靶点图像坐标，根据所标定的第一成像装置、第二成像装置的内部参数以及第一成像装置和第二成像装置之间的外部参数，对第一成像装置、第二成像装置获取的空载图像进行匹配，并对所述空载图像进行三维重建，获取靶点在测量坐标系下空载时的三维坐标，对第一成像装置、第二成像装置获取的加载图像进行匹配，并对所述加载图像进行三维重建，获取靶点在同一测量坐标系下加载时的三维坐标；S5, three-dimensional reconstruction, performing feature extraction on the unloaded image and the loaded image acquired by the first imaging device and the first imaging device respectively, and obtaining the image coordinates of the target point, according to the calibrated first imaging device and the second imaging device Internal parameters and external parameters between the first imaging device and the second imaging device, matching the airborne images acquired by the first imaging device and the second imaging device, and performing three-dimensional reconstruction on the airborne images to obtain target points The three-dimensional coordinates when no-load is measured in the coordinate system, the loaded images obtained by the first imaging device and the second imaging device are matched, and the loaded images are three-dimensionally reconstructed, and the target point is obtained when the target point is loaded in the same measurement coordinate system three-dimensional coordinates;
S6，剖面扭转刚度计算，对上述加载前、加载后的同名点的三维坐标进行解析，计算得出第一测试截面和第二测试截面之间的相对位置关系，进而得到待测桨叶的待测剖面扭转刚度。S6, section torsional stiffness calculation, analyze the three-dimensional coordinates of the points with the same name before and after loading, calculate the relative positional relationship between the first test section and the second test section, and then obtain the to-be-tested blade Measure the torsional stiffness of the section.
本发明在应用中，还有如下进一步优化的技术方案。In the application of the present invention, there are further optimized technical solutions as follows.
进一步地，所述施加载荷为力偶载荷，第一测试截面和第二测试截面之间的相对位置关系为相对扭转角，根据相对扭转角计算获取待测桨叶的待测剖面扭转刚度。Further, the applied load is a force couple load, the relative positional relationship between the first test section and the second test section is a relative torsion angle, and the torsional stiffness of the test section of the blade to be tested is calculated according to the relative torsion angle.
进一步地，所述步骤S2中，第一测试截面上的两个相间的靶点附着在第一测试截面与待测桨叶表面的交线上，第二测试截面上的两个相间的靶点附着在第二测试截面与待测桨叶表面的交线上。Further, in the step S2, the two alternate target points on the first test section are attached to the intersection line between the first test section and the surface of the blade to be tested, and the two alternate target points on the second test section Attached to the intersection line of the second test section and the surface of the blade to be tested.
进一步地，所述第一成像装置、第二成像装置均为工业相机。Further, both the first imaging device and the second imaging device are industrial cameras.
进一步地，所述第一测试截面、第二测试截面间距为100-200mm。Further, the distance between the first test section and the second test section is 100-200 mm.
本发明方法与激光三角测距方法相比，准备工作步、灵活性好，并且能够更加精确地捕捉到桨叶的变形。Compared with the laser triangulation distance measuring method, the method of the present invention has better preparation steps and better flexibility, and can more accurately capture the deformation of the blade.
有益效果Beneficial effect
能够更加精确地捕捉到桨叶的变形，通过双成像装置采集图像，并进行三维重建，可以精确获取待测桨叶的位形变化，提高测量精度。The deformation of the propeller can be captured more accurately, and images can be collected by dual imaging devices and three-dimensional reconstruction can be performed to accurately obtain the configuration change of the propeller to be tested and improve the measurement accuracy.
附图说明Description of drawings
图1激光测距仪测量桨叶剖面扭转刚度原理图。Fig. 1 Schematic diagram of measuring the torsional stiffness of the blade section by the laser range finder.
图2双目立体视觉测量装置布置图。Figure 2 The layout of the binocular stereo vision measurement device.
图3待测桨叶示意图。Figure 3 Schematic diagram of the blade to be tested.
图4加载夹具结构示意图。Figure 4 Schematic diagram of the loading fixture structure.
具体实施方式Detailed ways
为了阐明本发明的技术方案及技术目的，下面结合附图及具体实施方式对本发明做进一步的介绍。In order to clarify the technical scheme and technical purpose of the present invention, the present invention will be further introduced below in conjunction with the accompanying drawings and specific implementation methods.
现代新型直升机的桨叶几乎毫无例外使用复合材料，复合材料桨叶铺层结构非常复杂，桨叶具有非均匀性和各向异性，不同位置剖面刚度差异较大，仅测量一个剖面的变形无法准确获得桨叶的剖面刚度。本发明通过测量具有相同铺层结构的桨叶的两个相近的第一截面S1和第二截面S2(如图3所示)之间的相对变形，通过三维重建获得该段内的剖面扭转刚度。第一截面S1和第二截面S2之间的间距过大，测量获得的剖面扭转刚度可能会偏离桨叶的真实值，间距太小，则两剖面之间的相对变形很小，视觉系统难以检测，一般两剖面间距在100～200nm之间比较合适，具体测量时的两剖面间距还要根据桨叶铺层的实际情况和双目立体测量系统的测量精度而定。The blades of modern new helicopters use composite materials almost without exception. The laminated structure of composite blades is very complex, and the blades are non-uniform and anisotropic. Accurately obtain the section stiffness of the blade. In the present invention, by measuring the relative deformation between two adjacent first section S1 and second section S2 (as shown in Figure 3 ) of the blade with the same lay-up structure, the torsional stiffness of the section in this section is obtained through three-dimensional reconstruction . If the distance between the first section S1 and the second section S2 is too large, the measured torsional stiffness of the section may deviate from the true value of the blade. If the distance is too small, the relative deformation between the two sections is very small, which is difficult for the visual system to detect Generally, the distance between the two sections is more suitable between 100 and 200nm. The distance between the two sections in the specific measurement depends on the actual situation of the blade layup and the measurement accuracy of the binocular stereo measurement system.
在测量过程中直升机桨叶尽可能只发生扭转变形。加载载荷的大小和位置均已知。桨叶的加载载荷通过加载夹具(如图4所示)进行加载。During the measurement, the helicopter blades were only torsionally deformed as far as possible. The magnitude and location of the loaded load are known. The loading load of the blade is loaded through the loading fixture (as shown in Fig. 4).
在待测的两个截面上各附着两个靶点，可以直接附着在桨叶表面或者附着在可夹持于桨叶表面的刚性机构上，增加两个靶点之间的跨度，在一定程度上可以提高系统的测量精度。Attach two target points on each of the two sections to be measured, which can be directly attached to the surface of the blade or attached to a rigid mechanism that can be clamped on the surface of the blade, increasing the span between the two target points, to a certain extent It can improve the measurement accuracy of the system.
如图2所示，本发明的一种基于双目立体视觉的桨叶剖面扭转刚度测量系统，包括双目立体视觉测量装置，所述双目立体视觉测量装置包括第一成像装置、第二成像装置、同步控制器和控制主机，所述第一成像装置、第二成像装置和同步控制器电连接，同步控制器和控制主机电连接；同步控制器根据所接收的来自控制主机的控制电信号触发第一成像装置、第二成像装置同步进行图像采集。As shown in Fig. 2, a kind of blade profile torsional stiffness measurement system based on binocular stereo vision of the present invention comprises a binocular stereo vision measurement device, and the binocular stereo vision measurement device includes a first imaging device, a second imaging device device, a synchronous controller and a control host, the first imaging device, the second imaging device are electrically connected to the synchronous controller, and the synchronous controller is electrically connected to the control host; the synchronous controller is based on the received control electrical signal from the control host The first imaging device and the second imaging device are triggered to acquire images synchronously.
采用本发明系统的双目立体视觉测量装置测量桨叶剖面扭转刚度，具体包括以下步骤：The binocular stereo vision measuring device of the system of the present invention is used to measure the torsional stiffness of the blade section, which specifically includes the following steps:
S1，刚性固定待测桨叶，把待测桨叶的桨根部刚性同定在刚性支架上，使其无运动自由度，在待测桨叶的另一端固定用于施加载荷的加载夹具。加载夹具的结构如图4所示，两侧分别设有一个加载臂，通过加载臂可以施加载荷力大小相等方向相反的力偶载荷，用于测试桨叶剖面的扭转刚度。S1. Rigidly fix the blade to be tested, rigidly fix the root of the blade to be tested on the rigid support so that it has no freedom of movement, and fix a loading fixture for applying load at the other end of the blade to be tested. The structure of the loading fixture is shown in Figure 4. There is a loading arm on both sides, through which a couple load with equal load force and opposite direction can be applied to test the torsional stiffness of the blade section.
S2，在桨叶的待测剖面的两侧分别选择两个测试截面，分别为第一测试截面S1和第二测试截面S2，第一测试截面S1和第二测试截面S2分别于与桨叶的长度方向相垂直，第一测试截面S1和第二测试截面S2间距为l，l值过大，测量获得的剖面扭转刚度可能会偏离桨叶的真实值，l值太小，则两测试截面之间的相对变形很小，视觉系统难以检测，一般两剖面间距在100～200mm之间比较合适，具体测量时两测试截面间距还要根据桨叶铺层的实际情况和系统的测量精度而定。如图3所示，在两个测试截面上各附着两个相间的靶点，所述两个靶点分布在靠近前缘一侧和后缘一侧，增加两靶点之间间距有助于提高系统的测量精度。S2, select two test sections on both sides of the section to be tested of the blade, which are respectively the first test section S1 and the second test section S2, and the first test section S1 and the second test section S2 are respectively different from the blade. The length direction is perpendicular, and the distance between the first test section S1 and the second test section S2 is l. If the value of l is too large, the torsional stiffness of the measured section may deviate from the true value of the blade. If the value of l is too small, the distance between the two test sections The relative deformation between the two test sections is very small, and the visual system is difficult to detect. Generally, the distance between the two sections is more suitable between 100 and 200mm. The distance between the two test sections depends on the actual situation of the blade layup and the measurement accuracy of the system. As shown in Figure 3, two alternate target points are attached to each of the two test sections, and the two target points are distributed on the side close to the leading edge and the trailing edge side, increasing the distance between the two target points will help Improve the measurement accuracy of the system.
S3，设置成像装置，将双目立体视觉测量装置的第一成像装置、第二成像装置固定在支撑架上，并将其设置在待测桨叶的上方，第一成像装置、第二成像装置的光轴均贯穿于所述两测试截面S1、S2。对设置好位置的两个双目立体视觉测量装置进行标定，标定第一成像装置、第二成像装置的内部参数，以及第一成像装置、第二成像装置之间的外部参数；第一成像装置、第二成像装置均采用工业相机，以下分别称为第一工业相机、第二工业相机。S3, setting the imaging device, fixing the first imaging device and the second imaging device of the binocular stereo vision measuring device on the support frame, and setting it above the blade to be tested, the first imaging device, the second imaging device The optical axes of both pass through the two test sections S1, S2. Calibrate the two binocular stereo vision measurement devices with the set positions, calibrate the internal parameters of the first imaging device and the second imaging device, and the external parameters between the first imaging device and the second imaging device; the first imaging device Both the second imaging device and the second imaging device are industrial cameras, which are hereinafter respectively referred to as the first industrial camera and the second industrial camera.
S4，图像采集，根据测量需求，包括以下几个子步骤：S4, image acquisition, according to measurement requirements, includes the following sub-steps:
在加载载荷前，固定好的桨叶静止后，通过控制主机向同步控制器发送图像采集控制信号，同步控制器根据控制信号来控制第一成像装置、第二成像装置同步采集附着靶点的第一测试截面S1和第二测试截面S2的空载图像；Before the load is loaded, after the fixed propeller is stationary, the control host sends an image acquisition control signal to the synchronous controller, and the synchronous controller controls the first imaging device and the second imaging device to synchronously acquire the first imaging device and the second imaging device according to the control signal. No-load images of a test section S1 and a second test section S2;
通过加载夹具施加载荷力大小相等方向相反的力偶载荷，在待测桨叶稳定静止后，通过控制主机向同步控制器发送图像采集控制信号，同步控制器根据控制信号来控制第一成像装置、第二成像装置同步采集附着靶点的第一测试截面S1和第二测试截面S2的加载图像；The force couple load with equal load force and opposite direction is applied by the loading fixture. After the blade to be tested is stable and stationary, the control host sends an image acquisition control signal to the synchronous controller, and the synchronous controller controls the first imaging device and the second imaging device according to the control signal. The two imaging devices synchronously collect the loaded images of the first test section S1 and the second test section S2 attached to the target;
S5，三维重建，对所述成像装置获取的空载图像进行特征提取，获取第一测试截面、第二测试截面上的靶点的图像坐标，对所述成像装置获取的加载图像进行特征提取，获取第一测试截面、第二测试截面上的靶点的图像坐标。根据已标定的第一成像装置、第二成像装置的内部参数以及第一成像装置和第二成像装置之间的外部参数，对第一成像装置、第二成像装置获取的空载图像进行匹配，并对所述空载图像进行三维重建，获取靶点在测量坐标系下空载时的三维坐标，对第一成像装置、第二成像装置获取的加载图像进行匹配，并对所述加载图像进行三维重建，获取靶点在同一测量坐标系下加载时的三维坐标。S5, three-dimensional reconstruction, performing feature extraction on the no-load image acquired by the imaging device, acquiring image coordinates of target points on the first test section and the second test section, and performing feature extraction on the loaded image acquired by the imaging device, The image coordinates of the target points on the first test section and the second test section are acquired. According to the calibrated internal parameters of the first imaging device and the second imaging device and the external parameters between the first imaging device and the second imaging device, the airborne images acquired by the first imaging device and the second imaging device are matched, And perform three-dimensional reconstruction on the empty image, obtain the three-dimensional coordinates of the target point in the measurement coordinate system when it is empty, match the loaded images obtained by the first imaging device and the second imaging device, and perform 3D reconstruction, to obtain the 3D coordinates of the target point when it is loaded in the same measurement coordinate system.
S6，剖面扭转刚度计算，对上述加载前、加载后的同名点的三维坐标进行解析。施加载荷为力偶载荷，计算得出第一剖面S1和第二剖面S2之间相对位相对扭转角，根据相对扭转角计算获取桨叶剖面扭转刚度。S6, section torsional stiffness calculation, analyzing the three-dimensional coordinates of the points with the same name before and after loading. The applied load is a couple load, the relative torsion angle between the first section S1 and the second section S2 is calculated, and the torsional stiffness of the blade section is calculated according to the relative torsion angle.
加载变形量的计算：Calculation of loading deformation:
将加载前和加载后同一剖面上两个靶点连线分别记为向量和向量则该剖面的转角可表示为：The lines connecting the two target points on the same section before loading and after loading are respectively recorded as vectors and vector Then the corner of the section Can be expressed as:
其中 in
剖面扭转刚度的计算：Calculation of section torsional stiffness:
本发明利用两剖面的相对扭转角求取桨叶的剖面扭转刚度。根据杆件的扭转模型，有The invention utilizes the relative torsion angles of the two sections to obtain the section torsional stiffness of the paddle. According to the torsion model of the member, we have
其中，表示相距为dx的两个截面之间的相对转角，T为长度为dx的杆件承受的扭矩，GIp为相距dx的两个截面之间的平均抗扭刚度。沿轴线对x积分，则相距为l的两个截面之间的相对转角表达式为：in, Indicates the relative rotation angle between two sections with a distance of dx, T is the torque borne by a member with a length of dx, and GI p is the average torsional stiffness between two sections with a distance of dx. Integrating x along the axis, the expression for the relative rotation angle between two sections with a distance of l is:
其中，为两个截面之间的相对扭转角，表示为：in, is the relative torsion angle between the two sections, expressed as:
和为两截面的扭转角，T为加载的载荷，l为两个截面之间的距离，则待测剖面的扭转刚度为： and is the torsion angle of the two sections, T is the loaded load, and l is the distance between the two sections, then the torsional stiffness of the section to be measured is:
为了使本领域的普通技术人员，能更清晰地理解本发明的技术方案，下面结合具体实例对本发明的实施方式做进一步介绍。In order to enable those skilled in the art to understand the technical solution of the present invention more clearly, the implementation manners of the present invention will be further introduced below in conjunction with specific examples.
该实例采用分辨率为1392×1040的两个数字CCD摄像机(第一成像装置、第二成像装置)和17mm焦距的两个光学镜头；测量系统的程序以VS2010为工具编写，程序算法为现有技术在此不再详述，在Windows7平台上运行。桨叶总长为1630mm，翼型段弦长为108mm，测量Y750mm和Y1150mm的剖面刚度。测量Y750mm剖面刚度时，在Y700mm处选取第一测试截面S1、Y800mm处选取第二测试截面S2，第一测试截面S1、第二测试截面S2的每个测试截面上各附着两个靶点，两靶点间距80mm。测量Y1150mm剖面刚度时，在Y1100mm处选取第一测试截面S1、Y1200mm处选取第二测试截面S2，第一测试截面S1、第二测试截面S2的每个测试截面上各附着两个靶点，两靶点间距80mm。This example adopts two digital CCD cameras (the first imaging device and the second imaging device) with a resolution of 1392×1040 and two optical lenses with a focal length of 17mm; The technology will not be described in detail here, and it runs on the Windows7 platform. The total length of the blade is 1630mm, the chord length of the airfoil section is 108mm, and the section stiffness of Y750mm and Y1150mm is measured. When measuring the stiffness of the Y750mm section, select the first test section S1 at Y700mm and the second test section S2 at Y800mm, and attach two target points to each test section of the first test section S1 and the second test section S2. Target spacing 80mm. When measuring the stiffness of the Y1150mm section, select the first test section S1 at Y1100mm and the second test section S2 at Y1200mm, and attach two target points to each test section of the first test section S1 and the second test section S2. Target spacing 80mm.
应用本发明方法测量桨叶Y1150mm剖面的扭转刚度、挥舞刚度和摆振刚度的重复精度统计如表1所示，扭转刚度的重复测量精度为7％。Application of the method of the present invention to measure the torsional stiffness, flapping stiffness and shimmy stiffness of the blade Y1150mm section repeatability statistics is shown in Table 1, and the repeatability of the torsional stiffness is 7%.
表1 重复精度验证 单位：N·m2 Table 1 Repeat accuracy verification Unit: N·m 2
在保持切变模量G、极惯性矩Ip和剖面间距l不变的情况下，剖面的扭转角与载荷T成线性关系。同理，在保持弹性模量E、惯性矩I、载荷加载位置a、待测剖面位置x1和x2不变情况下，剖面的弯曲挠度ω与载荷F成线性关系。因此通过改变载荷，剖面变形量之间的线性关系也可以从一个侧面验证系统的检测精度。In the case of keeping the shear modulus G, the polar moment of inertia I p and the section spacing l constant, the torsion angle of the section It has a linear relationship with the load T. Similarly, when the elastic modulus E, moment of inertia I, load loading position a, and the positions x1 and x2 of the section to be measured remain unchanged, the bending deflection ω of the section is linearly related to the load F. Therefore, by changing the load, the linear relationship between the deformation of the section can also verify the detection accuracy of the system from one side.
测量抗扭刚度时，在Y1500mm截面分别加载10.2N·m2、13.26N·m2和16.32N·m2三种情况，每次加载有效测量次数不少于三次，实验结果取其平均值。加载10.2N·m2时将测得的两截面扭转角视为1，加载13.26N·m2时，加载载荷是10.2N·m2的1.3倍，则理想情况下，两截面的扭转角应为1.3，加载16.32N·m2时，两截面扭转角应为1.6。实际统计结果如表2所示。When measuring the torsional rigidity, load 10.2N·m 2 , 13.26N·m 2 and 16.32N·m 2 respectively on the Y1500mm section, and the number of effective measurements for each loading shall not be less than three times, and the average value of the experimental results shall be taken. When the load is 10.2N· m2 , the measured torsion angle of the two sections is regarded as 1. When the load is 13.26N· m2 , the loaded load is 1.3 times of 10.2N· m2 . Ideally, the torsion angle of the two sections should be is 1.3, and when the load is 16.32N·m 2 , the torsion angle of the two sections should be 1.6. The actual statistical results are shown in Table 2.
表2 剖面扭转角线性关系统计Table 2 Statistics of the linear relationship of the section torsion angle
本发明方法与激光三角测距方法相比，准备工作少、灵活性好，并且能够更加精确地捕捉到桨叶的变形；Compared with the laser triangulation ranging method, the method of the present invention has less preparation work, better flexibility, and can more accurately capture the deformation of the blade;
和现有技术相比，本发明具有以下技术进步性：Compared with the prior art, the present invention has the following technical advancements:
1)能够更加精确地捕捉到桨叶的变形，通过双成像装置采集图像，并进行三维重建，可以精确获取待测桨叶的位形变化，提高测量精度。1) The deformation of the blade can be captured more accurately, and the image can be collected by dual imaging devices and three-dimensional reconstruction can be performed to accurately obtain the configuration change of the blade to be tested and improve the measurement accuracy.
2)准备工作少、灵活性好。2) Less preparatory work and good flexibility.
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，本发明要求保护范围由所附的权利要求书、说明书及其等效物界定。The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have For various changes and improvements, the protection scope of the present invention is defined by the appended claims, description and their equivalents.
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| CN109668502A (en) * | 2017-10-16 | 2019-04-23 | 上海同济检测技术有限公司 | Profile reverses measuring device |
| CN108225692A (en) * | 2017-12-01 | 2018-06-29 | 中国直升机设计研究所 | A kind of measurement blade entirety torsional rigidity test of vehicular method |
| CN110715612A (en) * | 2019-09-29 | 2020-01-21 | 中国飞行试验研究院 | Helicopter rotor deformation and flapping angle measuring method and device |
| CN112504873A (en) * | 2020-10-30 | 2021-03-16 | 中国直升机设计研究所 | Vertical rotor blade torsional rigidity measuring system and measuring method |
| CN112525737A (en) * | 2020-11-20 | 2021-03-19 | 中国直升机设计研究所 | Test device and test method for measuring flapping rigidity of helicopter blade |
| CN112414324A (en) * | 2020-12-22 | 2021-02-26 | 南昌航空大学 | Helicopter rotor blade torsion angle measurement method based on binocular stereo vision |
| CN112414324B (en) * | 2020-12-22 | 2022-10-14 | 南昌航空大学 | A method for measuring the twist angle of helicopter rotor blades based on binocular stereo vision |
| CN115420444A (en) * | 2021-05-31 | 2022-12-02 | 惠阳航空螺旋桨有限责任公司 | Propeller blade rigidity test method and propeller blade rigidity test mechanism |
| CN115420443A (en) * | 2021-05-31 | 2022-12-02 | 惠阳航空螺旋桨有限责任公司 | Propeller blade rigidity test device |
| CN114112351A (en) * | 2021-11-19 | 2022-03-01 | 中国直升机设计研究所 | Main blade airfoil section calibration device |
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