CN106407502A - Optimum matching-based blade section line profile parameter evaluation method - Google Patents
Optimum matching-based blade section line profile parameter evaluation method Download PDFInfo
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Abstract
The invention discloses an optimum matching-based blade section line profile parameter evaluation method. According to the method, mean camber line rough registration is used to effectively reject the measurement bad points; profile tolerance evaluation is carried out through a minimum condition principle; and on the basis of tolerance constraint, the profile tolerance error is minimum and the ultra-bad point quantity is least under the condition of ensuring that the location degree and the twist degree are not ultra-bad, so that optimum matching is realized and benefit is brought to decrease the false rejection rate. Through the method, the defect parts of the blades can be rapidly and correctly detected, and the further processing or process improvement direction of the blades can be guided.
Description
Technical field
The invention belongs to the field of inspection is and in particular to a kind of blade profile molded line profile parameters based on best match are evaluated
Method.
Background technology
Blade is the core component of the turbomachines such as steam turbine, aircraft engine, and its appearance profile is directly connected to system
Safety and stability and operational paradigm it is therefore necessary to using high accuracy, stable detection method blade is carried out comprehensive and strict
Detect and reasonably evaluated, up to standard to guarantee leaf quality.
The blade parameter of required detection can be divided into two classes:One is surface-type feature parameter, including front and rear edge radius, chord length, in
Camber line, maximum gauge etc.；Two is machined surface profile parameter, including molded line profile tolerance, long-pending folded point position degree, twist etc..The first kind
Parameter is only relevant with measurement data itself, and Equations of The Second Kind parameter ask for must first measurement data and gross data be carried out most preferably
Coupling, the evaluation methodology to matching way and molded line profile parameters has very big dependency.
Existing coupling evaluation methodology, is slightly mated, Ran Houji using line-of-sight course (the front and rear edge center of circle and center of gravity) mostly
Carry out profile parameters evaluation in least square principle.However, because blade edge is very thin, the accuracy of manufacture is more difficult to ensure than leaf basin blade back
Card, is frequently not preferable circular arc, and the limitation due to current e measurement technology, and the measurement data of blade edge is often paid no attention to
Think, the error of matching front and rear edge is larger, lead to the precision of line-of-sight course registration not high enough.
It is generally adopted by the method for stochastic sampling in enterprise to be detected, the qualification rate of detection sample and percent defective one
Determine to have influence on technical staff in degree to the evaluation of blade by the gross and judgement, therefore correctly, rational part detection method and matter
Amount evaluation criterion is particularly important for the production of enterprise, and the adjustment that on the one hand can promote process system is to reduce production waste product
Rate, on the other hand can reduce unreasonable the led to pseudo- percent defective evaluated by detection, thus ensureing the qualification rate of part
Require.
In sum, research a kind of more can the actual rational profile parameters evaluation methodology of incorporation engineering particularly important.
Content of the invention
It is an object of the invention to overcoming above-mentioned deficiency, provide a kind of ginseng of the blade profile molded line profile based on best match
Number evaluation methodology, more comprehensively, intuitively to blade evaluates, and on the premise of ensureing Blade Properties, effectively reduces profile tolerance
Error, the overproof points of minimizing, thus reducing pseudo- percent defective, and guide the improvement direction of blade processing technique.
In order to achieve the above object, the present invention comprises the following steps：
Step one, reads in gross data and the measured data of blade profile molded line, and matching contour line respectively；
Step 2, carries out data prediction：According to the characteristic distributions of molded line data point, by data point be divided into leaf basin, blade back,
Leading edge and four parts of trailing edge simultaneously store respectively；
Step 3, using mean camber line as matching characteristic, carries out preliminary matches to measured data and gross data, and rejects thick
Big error information；
Step 4, carries out accurately mate using best match algorithm to measured data and gross data；
Step 5, according to matching result, is calculated the torsion of blade by the rotation needed for rigid body translation and translation matrix
Corner Ψ, position degree w, the limit profile error amount using leaf basin, blade back, leading edge, trailing edge tries to achieve molded line profile tolerance；
Step 6, generates the error allowed band with standard profile for bone line according to given tolerance parameter；
Step 7, carries out parameter evaluation analysis according to error allowed band to blade profile molded line profile.
In described step 3, preliminary matches are using mean camber line as matching characteristic, obtain the higher thick coupling knot of accuracy
Really, so as to effectively reject measurement bad point it is ensured that evaluate the correctness of molded line profile tolerance with minimal condition method, and mate institute for essence
Using ICP algorithm provide preferable initial value.
In described step 4, accurately mate adopt improved ICP algorithm, with torsional error and bending error not overproof be about
Bundle condition, with leaf basin, blade back, leading edge, trailing edge region contour degree is minimum, profile overproof point sum minimum as target；By rotation
Torque battle array R and translation matrix T try to achieve the torsion angle Ψ and position degree w of blade profile molded line；To be carried out based on best match
Meet the actual vane type line profile parameters evaluation of engineering.
Described improved ICP algorithm comprises the following steps：
The first step, using after preliminary registration through rigid body translation measured data as essence registration initial value；By asking each survey
The intersection point of amount point to theory shaped wire to obtain corresponding closest approach；
Second step, based on region tolerance constraints, evaluates molded line profile tolerance using minimal condition method, that is, ensure position degree and
On the premise of torsional error is not overproof, profile error and the overproof points of profile tolerance are made to reach minimum；Then object function is expressed as：
F (R, T)=min { max { distance (Pi_p＇, L)+max { distance (Pi_b＇, L)+max { distance
(Pi_q＇, L)+max { distance (Pi_h＇, L) }
&&min{Noversize_points}；
In formula, Pi_p＇, Pi_b＇, Pi_q＇ Pi_h＇ is respectively leaf basin, blade back, leading edge, the eyeball of trailing edge through registration process
Point by rigid body translation gained；L is theoretical section line；Noversize_pointsIt is the number of the overproof point outside tolerance range, that is,
Points within the inner boundary of tolerance range or beyond external boundary；
3rd step, the spin matrix R being determined by Quaternion Method and translation matrix T are following form：
The then torsion angle of blade profile molded line measured data is：
Long-pending folded point position degree：
When position degree w and torsional error Ψ is all less than given tolerance parameter, with rotation translation matrix R tried to achievek、Tk
To data point set PKIt is updated, make Pk+1=Rk*Pk+Tk, repeat the ICP iterative process of essence registration；When position degree or twist
Error is overproof, or each region contour degree max value of error sum reaches and stops iteration during minimum it is believed that being now best match.
In described step 3, the concrete grammar of preliminary matches is as follows, first, extracts the middle arc of gross data and measurement data
Line, using the front and rear edge center of circle as the beginning and end of mean camber line；Then, fitting theory takes with actual measurement mean camber line and at equal intervals respectively
Point is equal to actual measurement mean camber line data points it is desirable to obtain theoretical mean camber line data points, and makes the starting point subscript of theoretical mean camber line
Consistent with the subscript of actual measurement mean camber line starting point；Finally, with mean camber line point set as corresponding point, solve rotation peace using Quaternion Method
Move matrix, and rigid body translation is carried out to measurement data.
In described step 3, the method rejecting gross error data is as follows：
Measurement bad point judges：
After preliminary matches, if measuring point is to the distance of theoretical curve：
di<min{di-2,di-1,di+1,di+2Or di>max{di-2,di-1,di+1,di+2},
And | dI is average-di|>δ1When, then piFor bad point；
Wherein：dI is average=(di-2+di-1+di+1+di+2)/4；δ1For given limit value, take δ1=1.5e, e=max { section
Line contour degree tolerance value }.
Compared with prior art, present invention uses mean camber line rough registration, effectively reject measurement bad point, by minimal condition
Principle is carrying out profile tolerance evaluation, and is based on tolerance constraints, ensure position degree and twist not overproof in the case of can make
Profile error is minimum, overproof points are minimum, realizes best match, is conducive to reducing pseudo- percent defective；By this method, acceptable
Rapidly and accurately detect the rejected region of blade, instruct being processed further or process modification direction of blade.
Brief description
Fig. 1 is blade profile profile parameters evaluation rubric figure of the present invention；
Fig. 2 is present invention theory blade profile molded line data；
Fig. 3 surveys blade profile molded line data for the present invention；
The theoretical mean camber line that Fig. 4 tries to achieve for the present invention；
Fig. 5 carries out measurement data after best match for the present invention and falls the situation in tolerance range.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig. 1 to Fig. 5, the present invention comprises the following steps：
Step one, realizes the process that data area divides pretreatment
Because this method is based on region tolerance constraints, therefore exactly data is carried out with front and rear edge and leaf basin blade back region is drawn
The pretreatment operation divided is critically important.
A. gross data carries out the region division of data using the method based on range error；
Referring to Fig. 2, the feature at theoretical value strong point is：The data point of front and rear edge is intensive, and the data point of leaf basin blade back is sparse, because
In the range of this leaf basin blade back, distance between points is much larger than the distance between each consecutive points in the range of front and rear edge；
Process step is as follows：
First, data point is roughly classified into leaf basin and two free curves of blade back, its two ends all includes one respectively
The leading edge data point divided and trailing edge data point.Next, a distance threshold is determined according to the situation of Blade measuring data point, so
Afterwards from the beginning of at two free curve end points, ask at the distance between 2 points, and whether judging distance is in the range of distance threshold.If
Distance in threshold range, then for the data point set of front and rear edge, otherwise stops search, and remaining point is the number of leaf basin or blade back
Strong point collection.
B. measured data accurately to divide data area by the way of error of curvature and range error combine；
Referring to Fig. 3, actual spot of measurement collection to be measured using very intensive dot spacing in the part also not arriving front and rear edge, because
This cannot clearly judge the separation of front and rear edge and leaf basin blade back；
Process step is as follows：
First, data point is roughly classified into leaf basin and two free curves of blade back, its two ends all includes one respectively
The leading edge data point divided and trailing edge data point；Then, seek the curvature of every bit on curve, and determine a curvature threshold；From two
Start at bar monodrome endpoint curve, search curvature is more than the point of curvature threshold, puts in leading edge or trailing edge array；Next,
Slightly extract point set using least square fitting front and rear edge, obtain the matching center of circle and radius；Finally, by two monodrome curves
Whether the distance that each data point arrives the front and rear edge matching center of circle respectively is approximately equal to fit radius accurately to extract front and rear edge.
Step 2, mean camber line rough registration
First, extract the mean camber line of gross data and measurement data, using the front and rear edge center of circle as the starting point of mean camber line and end
Point；Try to achieve mean camber line as shown in Figure 4；Then, fitting theory takes a little it is desirable to obtain theoretical with actual measurement mean camber line and at equal intervals respectively
Mean camber line data points are equal to actual measurement mean camber line data points, and make starting point subscript and the actual measurement mean camber line starting point of theoretical mean camber line
Subscript consistent；Finally, with mean camber line point set as corresponding point, rotation and translation matrix are solved using Quaternion Method, and to measurement
Data carries out rigid body translation.
Step 3, referring to Fig. 5, distinctly displays qualified point and overproof point (overproof point asterisk shows), can intuitively draw wheel
Wide out-of-size position；
The method carries out rough registration using mean camber line, makes the precision of rough registration higher, rejects measurement bad point so as to effective；
And then be based on tolerance constraints it is ensured that twist and position degree be not overproof so that region contour degree error minimum, overproof points
It is realization of goal best match less；Carry out profile tolerance evaluation using minimal condition method, more meet the actual requirement of engineering；By figure
The method that shape shows, can Fast Evaluation blade profile parameters, obtain position degree, twist, profile tolerance, overproof points and defect
Position；Coupling is evaluated accurately and reliably, can preferably instruct being processed further of blade.
Embodiment：
1) gross data and the measured data of blade profile molded line are read in, and matching contour line respectively；
2) carry out data prediction：According to the characteristic distributions of molded line data point, data point is divided into leaf basin, blade back, leading edge
Store with four parts of trailing edge and respectively；
3) try to achieve mean camber line, measured data is slightly mated as matching characteristic by the use of mean camber line with gross data, and
Reject gross error data；
Measurement bad point judgment criterion：
If the distance of measuring point to theoretical curve meets
di<min{di-2,di-1,di+1,di+2Or di>max{di-2,di-1,di+1,di+2},
And | dI is average-di|>δ1When, then piPoint is bad point.
Wherein：dI is average=(di-2+di-1+di+1+di+2)/4；δ1For given limit value, take δ1=1.5e, e=max { section
Line contour degree tolerance value }；
4) adopt best match algorithm, with twist, position degree not overproof as constraints, minimum, overproof with profile tolerance
Points minimum for target, accurately mate is carried out to measured data and gross data；
5) according to matching result, it is calculated torsion angle Ψ, position degree w and the profile tolerance of blade；
The spin matrix R being determined by Quaternion Method and translation matrix T are following form：
The then torsion angle of blade profile molded line measured data is：
Long-pending folded point position degree：
When position degree w and torsional error Ψ is all less than given tolerance parameter, with rotation translation matrix R tried to achievek、Tk
To data point set PKIt is updated, make Pk+1=Rk*Pk+Tk, repeat the ICP iterative process of essence registration；When position degree or twist
Error is overproof, or each region contour degree max value of error sum reaches and stops iteration during minimum it is believed that being now best match；
6) the error allowed band with standard profile for bone line is generated according to given tolerance parameter；
Data point on theoretical cross section contour is inwardly translated e1 or outwards translates e2 along the normal vector of each point, again
Obtain two smooth curves using reverse engineering approach, the belt-like zone between two curves is tolerance range；Wherein, e1, e2
It is respectively given inside and outside admissible error value；
7) evaluation analysis；
Eyeball in tolerance range is distinctly displayed with overproof point, can intuitively find out the position residing for blade defect
Put；And by profile tolerance, position degree, torsional error and the overproof points of profile, whether thoroughly evaluating vane type line profile is qualified.
Claims (6)
1. a kind of blade profile molded line profile parameters evaluation methodology based on best match is it is characterised in that comprise the following steps：
Step one, reads in gross data and the measured data of blade profile molded line, and matching contour line respectively；
Step 2, carries out data prediction：According to the characteristic distributions of molded line data point, data point is divided into leaf basin, blade back, leading edge
Store with four parts of trailing edge and respectively；
Step 3, using mean camber line as matching characteristic, carries out preliminary matches to measured data and gross data, and rejects thick mistake
Difference data；
Step 4, carries out accurately mate using best match algorithm to measured data and gross data；
Step 5, according to matching result, is calculated the torsion angle of blade by the rotation needed for rigid body translation and translation matrix
Ψ, position degree w, the limit profile error amount using leaf basin, blade back, leading edge, trailing edge tries to achieve molded line profile tolerance；
Step 6, generates the error allowed band with standard profile for bone line according to given tolerance parameter；
Step 7, carries out parameter evaluation analysis according to error allowed band to blade profile molded line profile.
2. a kind of blade profile molded line profile parameters evaluation methodology based on best match according to claim 1, it is special
Levy and be, in described step 3, preliminary matches are using mean camber line as matching characteristic, obtain the higher thick coupling knot of accuracy
Really, so as to effectively reject measurement bad point it is ensured that evaluate the correctness of molded line profile tolerance with minimal condition method, and mate institute for essence
Using ICP algorithm provide preferable initial value.
3. a kind of blade profile molded line profile parameters evaluation methodology based on best match according to claim 1, it is special
Levy and be, in described step 4, accurately mate adopt improved ICP algorithm, with torsional error and bending error not overproof be about
Bundle condition, with leaf basin, blade back, leading edge, trailing edge region contour degree is minimum, profile overproof point sum minimum as target；By rotation
Torque battle array R and translation matrix T try to achieve the torsion angle Ψ and position degree w of blade profile molded line；To be carried out based on best match
Meet the actual vane type line profile parameters evaluation of engineering.
4. a kind of blade profile molded line profile parameters evaluation methodology based on best match according to claim 3, it is special
Levy and be, described improved ICP algorithm comprises the following steps：
The first step, using after preliminary registration through rigid body translation measured data as essence registration initial value；By seeking each measurement point
Intersection point to theory shaped wire to obtain corresponding closest approach；
Second step, based on region tolerance constraints, evaluates molded line profile tolerance using minimal condition method, that is, ensureing position degree and torsion
On the premise of error is not overproof, profile error and the overproof points of profile tolerance are made to reach minimum；Then object function is expressed as：
F (R, T)=min { max { distance (Pi_p＇, L)+max { distance (Pi_b＇, L)+max { distance (Pi_q＇,
L)+max{distance(Pi_h＇, L) }
&&min{Noversize_points}；
In formula, Pi_p＇, Pi_b＇, Pi_q＇ Pi_h＇ is respectively leaf basin, blade back, leading edge, the eyeball of trailing edge through registration process by firm
Body converts the point of gained；L is theoretical section line；Noversize_pointsIt is the number of the overproof point outside tolerance range, that is, be located at
Points within the inner boundary of tolerance range or beyond external boundary；
3rd step, the spin matrix R being determined by Quaternion Method and translation matrix T are following form：
The then torsion angle of blade profile molded line measured data is：
Long-pending folded point position degree：
When position degree w and torsional error Ψ is all less than given tolerance parameter, with rotation translation matrix R tried to achievek、TkLogarithm
Strong point collection PKIt is updated, make Pk+1=Rk*Pk+Tk, repeat the ICP iterative process of essence registration；When position degree or twist error
Overproof, or each region contour degree max value of error sum reach during minimum stop iteration it is believed that now be best match.
5. a kind of blade profile molded line profile parameters evaluation methodology based on best match according to claim 1, it is special
Levy and be, in described step 3, the concrete grammar of preliminary matches is as follows, first, extract the middle arc of gross data and measurement data
Line, using the front and rear edge center of circle as the beginning and end of mean camber line；Then, fitting theory takes with actual measurement mean camber line and at equal intervals respectively
Point is equal to actual measurement mean camber line data points it is desirable to obtain theoretical mean camber line data points, and makes the starting point subscript of theoretical mean camber line
Consistent with the subscript of actual measurement mean camber line starting point；Finally, with mean camber line point set as corresponding point, solve rotation peace using Quaternion Method
Move matrix, and rigid body translation is carried out to measurement data.
6. a kind of blade profile molded line profile parameters evaluation methodology based on best match according to claim 1, it is special
Levy and be, in described step 3, the method rejecting gross error data is as follows：
Measurement bad point judges：
After preliminary matches, if measuring point is to the distance of theoretical curve：
di<min{di-2,di-1,di+1,di+2Or di>max{di-2,di-1,di+1,di+2},
And | dI is average-di|>δ1When, then piFor bad point；
Wherein：dI is average=(di-2+di-1+di+1+di+2)/4；δ1For given limit value, take δ1=1.5e, e=max { section line wheel
Wide degree tolerance value }.
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