CN107153382A - Flexible hinged plate vibration control apparatus and method based on Binocular vision photogrammetry - Google Patents
Flexible hinged plate vibration control apparatus and method based on Binocular vision photogrammetry Download PDFInfo
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- CN107153382A CN107153382A CN201710458174.6A CN201710458174A CN107153382A CN 107153382 A CN107153382 A CN 107153382A CN 201710458174 A CN201710458174 A CN 201710458174A CN 107153382 A CN107153382 A CN 107153382A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry and method, described device includes flexible hinged plate body, vibration detecting part, drive control part, signal processing module and computer；Flexible hinged plate body is connected together through the hinges by two block of material identical flexible boards and constituted；Vibration detecting part includes multiple acceleration transducers, two industrial cameras and a slide projector；Drive control part includes multiple piezoelectric patches drivers；Vibration detecting part detects the vibration signal of flexible hinged plate body, vibration signal is inputted in computer by signal processing module, computer runs corresponding Algorithm of Active Control, is exported by signal processing module to drive control part, to suppress the vibration of flexible hinged plate body.The method that the vibration control apparatus is detected using slide projector projection signs point combining camera realizes the complete heed contacted measure to being hinged panel vibration so that measurement result is more accurate.
Description
Technical field
The present invention relates to the positioning of flexible structure and vibration control field, and in particular to a kind of based on Binocular vision photogrammetry
Flexible hinged plate vibration control apparatus and method.
Background technology
Flexibility, maximization are an important development trend of all kinds of space structures, and lightweight construction means to increase
The weight of payload, more flexibility when large scale structure causes Spacecraft guidance and control, manufactured.However, due to large-size pliable structure
Rigidity is low, flexible big, when being run in the space without extrernal resistance, is highly prone to external drive effect and produces long-term
Low frequency Large Amplitude Vibration, therefore, vibration analysis and control research to large-size pliable structure are necessary.
In existing technology, flexible panel structure simulated space windsurf board generally is used, mainly using piezoelectric patches, acceleration sensing
The senser elements such as device, marmem, angular rate gyroscope sensor, photoelectrical position sensor, it is hardened to flexibility to realize
The vibration measurement of structure.But, piezoelectric and marmem due to self-strength, fatigue life and heat resistance etc. because
Element, using being subject to certain restrictions；Acceleration transducer and angular rate gyroscope sensor can only measure thing to noise-sensitive
The displacement information of certain point on body；The measurement range of photoelectrical position sensor is big compared with small, complicated, operation difficulty, calculated
Journey is cumbersome and costly.
In large-size pliable structure vibration measurement and the research of active control, shaking for binocular vision system measurement structure is utilized
It is dynamic to have its unique advantage.Binocular vision photogrammetry is a kind of non-contact measurement, and it does not change the vibration characteristics of structure, therefore obtains
The measurement result arrived is accurate.Require that there is index point in structure in Binocular vision photogrammetry, generally pasted in practice using in structure
The way of sticking sign point in the way of index point, structure is projected on index point and structure can influence structure to a certain extent
Vibration, and projection signs point can realize real non-contact measurement, but replace plate true with the vibration information of subpoint
Vibration information employ approximation method, because the vibration of plate is small magnitude, namely illustrate that this approximation method is feasible.
Low frequency flexural vibrations and twisting vibration are coupled in the vibration of large-size pliable structure such as flexible board, utilize
Camera is monitored to different index points, can obtain the vibration information of unlike signal point, so as to by vibration uncoupling, obtain respectively
To the flexural vibrations information and twisting vibration information of plate, flexural vibrations information is used for driving the bending of piezoelectric actuator suppressing plate to shake
Dynamic, twisting vibration information is used for driving the twisting vibration of piezoelectric actuator suppressing plate.
The content of the invention
The purpose of the present invention is that there is provided a kind of flexible, hinged based on Binocular vision photogrammetry in view of the shortcomings of the prior art
Panel vibration control device, to realize the noncontact to flexible, hinged panel vibration, in real time accurate measurement, while take into account to project
Vibration information is put to replace the approximation of flexible board indeed vibrations information.
Another object of the present invention is to provide a kind of flexible hinged plate vibration control method based on Binocular vision photogrammetry.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry, including flexible hinged plate body, vibration
Detection part, drive control part, signal processing module and computer；The flexible hinged plate body is by two block of material identicals
Flexible board is connected together through the hinges, and flexible hinged plate body one end of composition is vacantly clipped in fixation by mechanical gripping means
In on the bearing of horizontal experimental bench I, flexible hinged plate body and horizontal plane, the other end are free end；The vibration detection
Part includes camera calibration part and multiple acceleration transducers, and camera calibration part includes two industrial cameras and a magic lantern
Machine, two industrial cameras are fixed on horizontal experimental bench II by slide rail, constitute two CCD camera measure system, and slide projector is also placed in
On horizontal experimental bench II, by dot projection to flexible hinged plate body, the lens plane of two industrial cameras is parallel to flexibility
Articulated slab body, alignment slide projector is incident upon the hot spot on flexible hinged plate body；Multiple acceleration transducers are arranged on flexibility
Edge of the articulated slab body close to free end；The drive control part includes multiple piezoelectric patches drivers, multiple piezoelectric patches
Driver double faced adhesive is in flexible hinged plate body on the flexible board of fixing end；Vibration detecting part detects flexible, hinged
The vibration signal of plate body, is inputted vibration signal in computer by signal processing module, and computer operation is corresponding actively
Control algolithm, is then exported to drive control part by signal processing module, to suppress the vibration of flexible hinged plate body.
Further, the signal processing module includes modification amplifier, acquisition and control card, terminal board and voltage amplification
Device, vibration detecting part detects the vibration signal of flexible hinged plate body, and terminal is transferred to after being modulated by modification amplifier
Plate, then converted analog signals into by the A/D modular converters inside acquisition and control card after data signal in input computer, meter
Calculation machine runs corresponding Algorithm of Active Control, and control signal is exported via acquisition and control card, by the transmission of terminal board, and passed through
Exported after voltage amplifier amplified signal to drive control part, to suppress the vibration of flexible hinged plate body.
Further, the quantity and specific paste position of the piezoelectric patches driver can be according to flexible hinged plate bodies
Size and material designed, designed.
Further, the facula position that the slide projector is incident upon on flexible hinged plate body can be wanted according to gauger
The vibration information of obtained flexible hinged plate body carrys out designed, designed.
Further, the drive control part includes multiple piezoelectric patches drivers, wherein 4 piezoelectric patches drivers are pasted
In flexible hinged plate body close to the positive and negative of the flexible board center line of fixing end, per face two panels, symmetrical stickup is connected in parallel, used
In the twisting vibration of control flexible board；Wherein 8 piezoelectric patches drivers are pasted on flexible hinged plate body close to the soft of fixing end
Property plate center line both sides positive and negative, it is symmetrical to paste per four, face, be connected in parallel, the flexural vibrations for controlling flexible board；It is close
The right side width direction centre position of the flexible board of fixing end, also pastes a piece of piezoelectric patches driver, is sensed as flexural vibrations
Device.
Further, the flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry can be used for simulation space
The Vibration Condition of middle solar energy sailboard, in the case of solar energy sailboard local environment gauge without light source, uses slide projector projection signs
The mode of point combining camera detection, obtains the vibration information of solar energy sailboard.
Another object of the present invention can be achieved through the following technical solutions：
A kind of flexible hinged plate vibration control method based on Binocular vision photogrammetry, the described method comprises the following steps：
First, slide projector is opened by index point dot projection on flexible hinged plate body, utilizes industrial camera and acceleration
Sensor detects the vibration of flexible hinged plate body, obtains corresponding vibration signal；
2nd, the vibration signal for collecting acceleration transducer in step one is transferred to end after being modulated by modification amplifier
Daughter board, then converted analog signals into by the A/D modular converters inside acquisition and control card after data signal in input computer,
The vibration signal that industrial camera is collected is directly inputted in computer；
3rd, computer runs corresponding Algorithm of Active Control, obtained oscillation control signal via acquisition and control card D/A
Modular converter is exported, by the information transmission of terminal board, and via being exported after voltage amplifier amplified signal to drive control part
Point, to suppress the vibration of flexible hinged plate body；
4th, control parameter is changed, repetition test obtains many experiments result, and the vibration for obtaining flexible hinged plate body is special
Property and control effect.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, the flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry of the invention uses slide projector projection signs
The method of point combining camera detection realizes the complete heed contacted measure to being hinged panel vibration, due to the vibration of measurement not to plate
Characteristic has any influence, so the measurement result obtained is more accurate.
2nd, the flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry of the invention using camera to projection not
It is monitored with index point, the vibration information of unlike signal point can be obtained, the vibration information of unlike signal point can reflects
The flexural vibrations information and twisting vibration information of flexible board, it is achieved thereby that the vibration uncoupling of flexible board.
3rd, the present invention projects the method for hot spot to obtain the index point in plate face using slide projector, solves gauge without light source environment
The vibration measurement problem of lower articulated slab.
Brief description of the drawings
Fig. 1 is the general structure of flexible hinged plate vibration control apparatus of the embodiment of the present invention 1 based on Binocular vision photogrammetry
Schematic diagram.
Fig. 2 is the schematic diagram of flexible hinged plate body in the embodiment of the present invention 1.
The flow chart that Fig. 3 is demarcated for industrial camera in the embodiment of the present invention 2 to index point hot spot.
Fig. 4 is the flow of the two CCD camera measure system metering system of two industrial cameras compositions in the embodiment of the present invention 2
Figure.
Wherein, 1- industrial cameras, 2- acceleration transducers, 3- hinges, 4- piezoelectric patches drivers, 5- slide projectors.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Embodiment 1：
As shown in figure 1, a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry is present embodiments provided,
Including flexible hinged plate body, vibration detecting part, drive control part, signal processing module and computer；The flexible hinge
Fishplate bar body is linked together (as shown in Figure 2) by two block of material identical flexible boards by hinge (3), the flexible, hinged of composition
Plate body one end is vacantly clipped in by mechanical gripping means to be fixed on the bearing of horizontal experimental bench I, flexible hinged plate body with
Horizontal plane, the other end is free end；The vibration detecting part includes camera calibration part and multiple acceleration transducers
(2), camera calibration part includes two industrial cameras (1) and a slide projector (5), and two industrial cameras (1) are solid by slide rail
It is scheduled on horizontal experimental bench II, constitutes two CCD camera measure system, slide projector (5) is also placed on horizontal experimental bench II, by hot spot
It is projected on flexible hinged plate body, the lens plane of two industrial cameras (1) is directed at magic lantern parallel to flexible hinged plate body
Machine (5) is incident upon the hot spot on flexible hinged plate body；It is close that two acceleration transducers (2) are arranged on flexible hinged plate body
The edge of free end；The drive control part includes multiple piezoelectric patches drivers (4), wherein 4 piezoelectric patches drivers (4)
Positive and negative of the flexible hinged plate body close to the flexible board center line of fixing end is pasted on, symmetrical to paste per face two panels, parallel connection is even
Connect, the twisting vibration for controlling flexible board；Wherein 8 piezoelectric patches drivers (4) are pasted on flexible hinged plate body close to solid
The positive and negative of the flexible board center line both sides of fixed end, it is symmetrical to paste per four, face, it is connected in parallel, the bending for controlling flexible board
Vibration, close to the right side width direction centre position of the flexible board of fixing end, also pastes a piece of piezoelectric patches driver (4), as
Flexural vibrations sensor；Vibration detecting part detects the vibration signal of flexible hinged plate body, will by signal processing module
In vibration signal input computer, computer runs corresponding Algorithm of Active Control, then by signal processing module export to
Drive control part, to suppress the vibration of flexible hinged plate body.
Wherein, the signal processing module includes modification amplifier, acquisition and control card, terminal board and voltage amplifier, shakes
Dynamic detection part detects the vibration signal of flexible hinged plate body, and terminal board is transferred to after being modulated by modification amplifier, then
Converted analog signals into after data signal and inputted in computer by the A/D modular converters inside acquisition and control card, computer
Corresponding Algorithm of Active Control is run, control signal is exported via acquisition and control card, by the transmission of terminal board, and via electricity
Exported after pressure amplifier amplifies signals to drive control part, to suppress the vibration of flexible hinged plate body.
Further, the quantity and specific paste position of the piezoelectric patches driver (4) can be according to flexible hinged plate sheets
The size and material designed, designed of body.The facula position that the slide projector (5) is incident upon on flexible hinged plate body being capable of root
The vibration information for the flexible hinged plate body for wanting to obtain according to gauger carrys out designed, designed.It is described based on the soft of Binocular vision photogrammetry
Property articulated slab vibration control apparatus can be used for the Vibration Condition of solar energy sailboard in simulation space, in ring residing for solar energy sailboard
In the case of the gauge without light source of border, the mode detected using slide projector (5) projection signs point combining camera obtains shaking for solar energy sailboard
Dynamic information.
In the present embodiment, the flexible board used is epoxide resin material thin plate, i.e. first piece flexibility being connected with fixing end
The size of plate is 550mm × 500mm × 2mm, and the size of second piece of flexible board is 50mm × 500mm × 2mm.The bullet of epoxy resin
Property modulus be Ep=34.64Gpa, density is ρ=1840kg/m3.Type of the industrial camera (1) from the production of Basler companies of Germany
Number GIGE cameras for being acA1600-60gc, using CMOS sensitive chips, highest frame per second 60fps, resolution ratio is 1600 × 1200；
From the camera lens of company of Ricoh, its model FL-HC0614-2M, focal length is 6mm, and size is Φ 32mm × 35.7mm, slide rail choosing
The model SENA33H-400-V10-W70 produced with MISUMI companies slide rail, length is 400mm.Slide projector (5) selects moral
The model E130 of Braun Aktiengesellschaft of state production 130af slide projectors, are equipped with 24V/150W major lights.Piezoelectric patches driver (4) by
Piezoceramic material is made, and physical dimension is 45mm × 15mm × 1mm, and slabbing is pasted onto on flexible board, apart from fixing end
230mm or 20mm, apart from plate width lower edges 45mm, the modulus of elasticity of piezoceramic material is Ep=63Gpa, d31
=-166pm/V.Acceleration transducer (2) is from the model 8310B10 of Kistler companies capacitance type sensor, and its is nominal
Sensitivity is 200mv/g, and measurement frequency scope is 0-180Hz.Acquisition and control card selects the DMC- that GALIL companies of the U.S. produce
There is provided the pci bus interface of standard for 2x00 digital motion controllers；The CPU models of the computer of selection
There are PCI-e slots in core76650U2.2GHz, internal memory 4G, mainboard, acquisition and control card can be installed.Voltage amplifier can select type
Number for APEX-PA241DW or APEX-PA240CX the part such as piezoelectric amplifier composition, multiplication factor can reach 52 times, will-
5V~+5V is amplified to -260~+260V.
Embodiment 2：
Present embodiments provide a kind of flexible hinged plate vibration control method based on Binocular vision photogrammetry, including following step
Suddenly：
First, open slide projector (5) by index point dot projection on flexible hinged plate body, using industrial camera (1) and
Acceleration transducer (2) detects the vibration of flexible hinged plate body, obtains corresponding vibration signal；
In this step, the flow chart that industrial camera (1) is demarcated to index point hot spot is as shown in figure 3, including following step
Suddenly：
The first step, set up coordinate system：With the midpoint O on second piece of preceding surface of flexible boardwFor the origin of coordinates, world coordinates is set up
It is OW-XWYWZW；With the photocentre O of cameracFor origin, camera coordinates system O is set upc-XcYcZc；With first, image upper left corner pixel
For origin O0, set up image coordinate system O0-UV；With the central point O of image1For origin, photo coordinate system O is created as1-XY。
The world coordinate system coordinate of any point (such as P points) and camera coordinates system transformation of coordinates in second step, space, can
To be described with spin matrix R and translation vector t：
Wherein, (xc yc zc)、(xw yw zw) it is respectively coordinate of the P points in camera coordinates system and world coordinate system.R is
Orthogonal matrices, t is D translation vector.
3rd step, in this demarcation, the model that camera is used is pin-hole model, therefore imaging process has following coordinate and become
Change：
Wherein, (x y) is the coordinate of P points in image, (xc yc zc) it is coordinate of this in camera coordinates system, f is phase
Machine lens focus.Above formula is expressed as with matrix form：
Summary, obtains imaging plane coordinate system coordinate and world coordinate system transformation of coordinates relation：
The origin O of 4th step, image coordinate system0At the pixel of first, the upper left corner of the plane of delineation, U axles and V axles point
Not along the width and short transverse of image, coordinate points (u v) represent u row, the pixel of v rows in image.Camera optical axis with
The intersection point of the plane of delineation is O1(u0 v0), this point is the center of image, and using the point as origin, X-axis and Y-axis are respectively along the width of image
Degree and short transverse, are created as photo coordinate system O1-XY.If each pixel physical size in X-axis, Y direction point
It is not dx, dy, then any one pixel has following relation under two coordinate systems on image：
It is expressed as matrix form：
In summary, any point P image coordinate system coordinate and world coordinate system transformation of coordinates relation can be obtained：
In formula,u0、v0Four parameters are only relevant with camera internal structure, referred to as camera internal parameter；And square
Battle array R and vector t is relevant with the position of camera and posture, and unrelated with camera structure, referred to as camera external parameter.Determine camera
The process of inside and outside portion's parameter, is exactly camera calibration.Camera calibration method uses the Zhang Zhengyou based on gridiron pattern scaling board in experiment
Standardization, i.e., by the coordinate for the characteristic point for extracting the black and white chessboard scaling board image shot, utilize Maximum Likelihood Estimation Method solution
The inside and outside parameter of camera model is obtained, opencv or MATLAB calibration tool casees can be used in practical operation.
The flow chart for the two CCD camera measure system metering system that two industrial cameras (1) are constituted is as shown in Figure 4；
2nd, transmitted after the vibration signal for collecting acceleration transducer in step one (2) is modulated by modification amplifier
Input calculating after data signal is converted analog signals into terminal board, then by the A/D modular converters inside acquisition and control card
In machine, the vibration signal that industrial camera (1) is collected is directly inputted in computer；
3rd, computer runs corresponding Algorithm of Active Control, obtained oscillation control signal via acquisition and control card D/A
Modular converter is exported, by the information transmission of terminal board, and via being exported after voltage amplifier amplified signal to drive control part
Point, to suppress the vibration of flexible hinged plate body；
4th, control parameter is changed, repetition test obtains many experiments result, and the vibration for obtaining flexible hinged plate body is special
Property and control effect.
It is described above, it is only patent preferred embodiment of the present invention, but the protection domain of patent of the present invention is not limited to
This, any one skilled in the art is in the scope disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and its patent of invention design are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (7)
1. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry, it is characterised in that：Including flexible hinged plate
Body, vibration detecting part, drive control part, signal processing module and computer；The flexible hinged plate body is by two pieces
Material identical flexible board is connected together through the hinges, and flexible hinged plate body one end of composition is outstanding by mechanical gripping means
Sky, which is clipped in, to be fixed on the bearing of horizontal experimental bench I, and flexible hinged plate body and horizontal plane, the other end are free end；Institute
Stating vibration detecting part includes camera calibration part and multiple acceleration transducers, and camera calibration part includes two industrial cameras
With a slide projector, two industrial cameras are fixed on horizontal experimental bench II by slide rail, constitute two CCD camera measure system, unreal
Lamp machine is also placed on horizontal experimental bench II, by dot projection to flexible hinged plate body, the lens plane of two industrial cameras
Parallel to flexible hinged plate body, alignment slide projector is incident upon the hot spot on flexible hinged plate body；Multiple acceleration transducers
Installed in flexible hinged plate body close to free end edge；The drive control part includes multiple piezoelectric patches drivers,
Multiple piezoelectric patches driver double faced adhesives are in flexible hinged plate body on the flexible board of fixing end；Vibration detecting part is detected
To the vibration signal of flexible hinged plate body, vibration signal is inputted in computer by signal processing module, computer operation
Corresponding Algorithm of Active Control, is then exported to drive control part by signal processing module, to suppress flexible hinged plate sheet
The vibration of body.
2. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature
It is：The signal processing module includes modification amplifier, acquisition and control card, terminal board and voltage amplifier, vibration detecting part
Go-on-go measures the vibration signal of flexible hinged plate body, terminal board is transferred to after being modulated by modification amplifier, then pass through collection
A/D modular converters inside control card are converted analog signals into after data signal and inputted in computer, and computer operation is corresponding
Algorithm of Active Control, control signal is exported via acquisition and control card, by the transmission of terminal board, and via voltage amplifier
Exported after amplified signal to drive control part, to suppress the vibration of flexible hinged plate body.
3. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature
It is：The quantity and specific paste position of the piezoelectric patches driver can be according to the sizes and material of flexible hinged plate body
Designed, designed.
4. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature
It is：The facula position that the slide projector is incident upon on flexible hinged plate body can want obtained flexible hinge according to gauger
The vibration information of fishplate bar body carrys out designed, designed.
5. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature
It is：The drive control part includes multiple piezoelectric patches drivers, wherein 4 piezoelectric patches drivers are pasted on flexible hinged plate
Body is close to the positive and negative of the flexible board center line of fixing end, and per face two panels, symmetrical stickup is connected in parallel, for controlling flexible board
Twisting vibration；Wherein 8 piezoelectric patches drivers are pasted on flexible hinged plate body close to the flexible board center line both sides of fixing end
Positive and negative, it is symmetrical to paste per four, face, be connected in parallel, the flexural vibrations for controlling flexible board；Close to the flexibility of fixing end
The right side width direction centre position of plate, also pastes a piece of piezoelectric patches driver, is used as flexural vibrations sensor.
6. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature
It is：The flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry can be used for solar energy sailboard in simulation space
Vibration Condition, in the case of solar energy sailboard local environment gauge without light source, use slide projector projection signs point combining camera examine
The mode of survey, obtains the vibration information of solar energy sailboard.
7. a kind of flexible hinged plate vibration control method based on Binocular vision photogrammetry, it is characterised in that methods described include with
Lower step：
First, slide projector is opened by index point dot projection on flexible hinged plate body, utilizes industrial camera and acceleration sensing
Device detects the vibration of flexible hinged plate body, obtains corresponding vibration signal；
2nd, the vibration signal for collecting acceleration transducer in step one is transferred to terminal after being modulated by modification amplifier
Plate, then converted analog signals into by the A/D modular converters inside acquisition and control card after data signal in input computer, work
The vibration signal that industry camera is collected is directly inputted in computer；
3rd, computer runs corresponding Algorithm of Active Control, and obtained oscillation control signal is changed via the D/A of acquisition and control card
Module is exported, by the information transmission of terminal board, and via being exported after voltage amplifier amplified signal to drive control part, is come
Suppress the vibration of flexible hinged plate body；
4th, change control parameter, repetition test, obtain many experiments result, obtain flexible hinged plate body vibration characteristics and
Control effect.
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| CN108760025A (en) * | 2018-07-12 | 2018-11-06 | 华南理工大学 | More flexible board vibration detection devices and method |
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