CN107153382B - Flexible hinged plate vibration control device and method based on binocular vision measurement - Google Patents
Flexible hinged plate vibration control device and method based on binocular vision measurement Download PDFInfo
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- CN107153382B CN107153382B CN201710458174.6A CN201710458174A CN107153382B CN 107153382 B CN107153382 B CN 107153382B CN 201710458174 A CN201710458174 A CN 201710458174A CN 107153382 B CN107153382 B CN 107153382B
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- 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
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a vibration control device and method of a flexible hinged plate based on binocular vision measurement, wherein the device comprises a flexible hinged plate body, a vibration detection part, a driving control part, a signal processing module and a computer; the flexible hinged plate body is formed by connecting two flexible plates made of the same material together through a hinge; the vibration detection part comprises a plurality of acceleration sensors, two industrial cameras and a slide projector; the drive control part comprises a plurality of piezoelectric sheet drivers; the vibration detection part detects a vibration signal of the flexible hinged plate body, the vibration signal is input into the computer through the signal processing module, the computer runs a corresponding active control algorithm, and the vibration signal is output to the driving control part through the signal processing module to suppress the vibration of the flexible hinged plate body. The vibration control device adopts a method of combining projector projection mark points with camera detection to realize the complete non-contact measurement of the vibration of the hinged plate, so that the measurement result is more accurate.
Description
Technical Field
The invention relates to the field of positioning and vibration control of flexible structures, in particular to a vibration control device and method of a flexible hinged plate based on binocular vision measurement.
Background
Flexibility and large-scale are important development trends of various aerospace structures, the light structure means that the weight of effective load can be increased, and the large structure enables the spacecraft to have more flexibility in design and manufacture. However, the large flexible structure has low rigidity and high flexibility, and is very easy to be subjected to external excitation to generate low-frequency large-amplitude vibration with long duration when running in outer space without external resistance, so that the vibration analysis and control research on the large flexible structure is necessary.
In the prior art, a space sailboard is usually simulated by using a flexible board structure, and vibration measurement of the flexible board structure is mainly realized by using sensing devices such as a piezoelectric plate, an acceleration sensor, a shape memory alloy, an angular rate gyroscope sensor, a photoelectric position sensor and the like. However, the piezoelectric material and the shape memory alloy are limited in application due to factors such as strength, fatigue life, temperature resistance and the like; the acceleration sensor and the angular rate gyroscope sensor are sensitive to noise and can only measure displacement information of a certain point on an object; the photoelectric position sensor has the advantages of small measurement range, complex structure, high operation difficulty, complex calculation process and high cost.
In the research of vibration measurement and active control of large flexible structures, the binocular vision system has unique advantages in measuring the vibration of the structures. Binocular vision measurement is a non-contact measurement that does not change the vibration characteristics of the structure and therefore results in accurate measurements. The binocular vision measurement requires that the structure is provided with mark points, in practice, the method of pasting the mark points on the structure and projecting the mark points on the structure is usually adopted, the method of pasting the mark points on the structure can influence the vibration of the structure to a certain extent, the projected mark points can realize real non-contact measurement, but an approximation method is adopted by replacing real vibration information of a plate with vibration information of the projected points, and the approximation method is feasible because the vibration of the plate is small in amplitude.
The low-frequency bending vibration and torsional vibration in the vibration of a large flexible structure such as a flexible plate are coupled together, different mark points are monitored by a camera, vibration information of different mark points can be obtained, the vibration is decoupled, bending vibration information and torsional vibration information of the plate are obtained respectively, the bending vibration information is used for driving a piezoelectric driver to restrain the bending vibration of the plate, and the torsional vibration information is used for driving the piezoelectric driver to restrain the torsional vibration of the plate.
Disclosure of Invention
The invention aims to provide a vibration control device of a flexible hinged plate based on binocular vision measurement aiming at the defects of the prior art, so that the vibration of the flexible hinged plate can be accurately measured in a non-contact and real-time manner, and the approximation that projected point vibration information replaces the real vibration information of the flexible plate is considered.
The invention also aims to provide a vibration control method of the flexible hinged plate based on binocular vision measurement.
The purpose of the invention can be realized by the following technical scheme:
a vibration control device of a flexible hinged plate based on binocular vision measurement comprises a flexible hinged plate body, a vibration detection part, a driving control part, a signal processing module and a computer; the flexible hinged plate body is formed by connecting two flexible plates made of the same material together through a hinge, one end of the formed flexible hinged plate body is suspended and clamped on a support fixed on the horizontal experiment table I through a mechanical clamping device, the flexible hinged plate body is vertical to the horizontal plane, and the other end of the flexible hinged plate body is a free end; the vibration detection part comprises a camera detection part and a plurality of acceleration sensors, the camera detection part comprises two industrial cameras and a slide projector, the two industrial cameras are fixed on a horizontal experiment table II through slide rails to form a binocular vision measurement system, the slide projector is also arranged on the horizontal experiment table II and projects light spots onto the flexible hinged plate body, and the lens planes of the two industrial cameras are parallel to the flexible hinged plate body and align with the light spots projected on the flexible hinged plate body by the slide projector; the plurality of acceleration sensors are arranged at the edge of the flexible hinged plate body close to the free end; the drive control part comprises a plurality of piezoelectric sheet drivers, and the two sides of the piezoelectric sheet drivers are stuck on the flexible plate of the flexible hinged plate body close to the fixed end; the vibration detection part detects a vibration signal of the flexible hinged plate body, the vibration signal is input into the computer through the signal processing module, the computer runs a corresponding active control algorithm, and then the vibration signal is output to the driving control part through the signal processing module to suppress the vibration of the flexible hinged plate body.
The signal processing module comprises an adaptive amplifier, an acquisition control card, a terminal board and a voltage amplifier, wherein the vibration detection part detects a vibration signal of the flexible hinged board body, the vibration signal is transmitted to the terminal board after being modulated by the adaptive amplifier, an analog signal is converted into a digital signal through an A/D conversion module in the acquisition control card and then is input into a computer, the computer runs a corresponding active control algorithm, the control signal is output through the acquisition control card, the signal is transmitted through the terminal board, and the signal is amplified through the voltage amplifier and then is output to the drive control part, so that the vibration of the flexible hinged board body is suppressed.
Further, the number and the specific sticking position of the piezoelectric sheet drivers can be designed according to the size and the material of the flexible hinged plate body.
Further, the light spot positions projected on the flexible hinge plate body by the slide projector can be designed according to vibration information of the flexible hinge plate body, which is desired by a measurer.
Furthermore, the drive control part comprises a plurality of piezoelectric sheet drivers, wherein 4 piezoelectric sheet drivers are adhered to the front and back surfaces of the flexible plate body close to the center line of the fixed end, and each piezoelectric sheet driver comprises two sheets which are symmetrically adhered and connected in parallel and are used for controlling the torsional vibration of the flexible plate; the 8 piezoelectric sheet drivers are adhered to the front and back sides of the two sides of the center line of the flexible plate close to the fixed end of the flexible hinged plate body, four piezoelectric sheet drivers are symmetrically adhered to each side and connected in parallel, and the piezoelectric sheet drivers are used for controlling bending vibration of the flexible plate; and a piezoelectric piece driver is also stuck at the middle position of the right side of the flexible plate close to the fixed end in the width direction and is used as a bending vibration sensor.
Furthermore, the vibration control device of the flexible hinged plate based on binocular vision measurement can be used for simulating the vibration condition of the solar sailboard in space, and under the condition that the environment where the solar sailboard is located has no light source, the vibration information of the solar sailboard is obtained by combining projection mark points of a projector with a camera detection mode.
The other purpose of the invention can be realized by the following technical scheme:
a vibration control method of a flexible hinged plate based on binocular vision measurement comprises the following steps:
1. opening a slide projector to project mark point light spots on the flexible hinged plate body, and detecting the vibration of the flexible hinged plate body by using an industrial camera and an acceleration sensor to obtain a corresponding vibration signal;
2. modulating a vibration signal acquired by the acceleration sensor in the first step through an adaptive amplifier and transmitting the modulated vibration signal to a terminal board, converting an analog signal into a digital signal through an A/D (analog/digital) conversion module in an acquisition control card and inputting the digital signal into a computer, and directly inputting the vibration signal acquired by the industrial camera into the computer;
3. the computer runs a corresponding active control algorithm, the obtained vibration control signal is output through the D/A conversion module of the acquisition control card, is transmitted through the information of the terminal board, is amplified by the voltage amplifier and then is output to the drive control part, and the vibration of the flexible hinge plate body is suppressed;
4. and changing control parameters, repeatedly testing, and obtaining a plurality of test results to obtain the vibration characteristic and the control effect of the flexible hinged plate body.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the vibration control device of the flexible hinged plate based on binocular vision measurement realizes the complete non-contact measurement of the vibration of the hinged plate by adopting a method of combining projection mark points of a projector with a camera for detection, and the measurement result is more accurate because the measurement does not have any influence on the vibration characteristic of the plate.
2. The vibration control device of the flexible hinged plate based on binocular vision measurement monitors different projected mark points by using the camera, can obtain vibration information of the different mark points, and the vibration information of the different mark points can reflect bending vibration information and torsional vibration information of the flexible plate, so that vibration decoupling of the flexible plate is realized.
3. The invention uses the method of projecting light spots by using the slide projector to obtain the mark points on the board surface, and solves the problem of vibration measurement of the hinged board in the environment without light sources.
Drawings
Fig. 1 is a schematic general structural diagram of a vibration control device of a flexible hinge plate based on binocular vision measurement in embodiment 1 of the present invention.
FIG. 2 is a schematic view of a flexible hinge plate body in embodiment 1 of the invention.
Fig. 3 is a flowchart of calibrating a light spot of a mark point by an industrial camera in embodiment 2 of the present invention.
Fig. 4 is a flowchart of a binocular vision measuring system measuring method formed by two industrial cameras in embodiment 2 of the present invention.
The system comprises an industrial camera 1, an acceleration sensor 2, a hinge 3, a piezoelectric sheet driver 4 and a slide projector 5.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
Example 1:
as shown in fig. 1, the present embodiment provides a vibration control device of a flexible hinge plate based on binocular vision measurement, which comprises a flexible hinge plate body, a vibration detection part, a driving control part, a signal processing module and a computer; the flexible hinged plate body is formed by connecting two flexible plates made of the same material together through a hinge (3) (as shown in figure 2), one end of the formed flexible hinged plate body is suspended and clamped on a support fixed on a horizontal experiment table I through a mechanical clamping device, the flexible hinged plate body is vertical to the horizontal plane, and the other end of the flexible hinged plate body is a free end; the vibration detection part comprises a camera detection part and a plurality of acceleration sensors (2), the camera detection part comprises two industrial cameras (1) and a slide projector (5), the two industrial cameras (1) are fixed on a horizontal experiment table II through slide rails to form a binocular vision measurement system, the slide projector (5) is also arranged on the horizontal experiment table II and projects light spots onto a flexible hinged plate body, the lens planes of the two industrial cameras (1) are parallel to the flexible hinged plate body and aim at the light spots projected on the flexible hinged plate body by the slide projector (5); two acceleration sensors (2) are arranged at the edge of the flexible hinged plate body close to the free end; the driving control part comprises a plurality of piezoelectric sheet drivers (4), wherein the 4 piezoelectric sheet drivers (4) are adhered to the front and back sides of the center line of the flexible plate, close to the fixed end, of the flexible hinge plate body, and each two piezoelectric sheet drivers are symmetrically adhered and connected in parallel and are used for controlling the torsional vibration of the flexible plate; the flexible hinged plate comprises a flexible hinged plate body, wherein 8 piezoelectric sheet drivers (4) are adhered to the front side and the back side of two sides of the center line of the flexible plate, close to a fixed end, of the flexible hinged plate body, four piezoelectric sheet drivers are symmetrically adhered to each other and connected in parallel, the piezoelectric sheet drivers are used for controlling the bending vibration of the flexible plate, and one piezoelectric sheet driver (4) is also adhered to the middle position of the flexible plate, close to the fixed end, in the width direction of the right side of the flexible plate and used as a bending vibration sensor; the vibration detection part detects a vibration signal of the flexible hinged plate body, the vibration signal is input into the computer through the signal processing module, the computer runs a corresponding active control algorithm, and then the vibration signal is output to the driving control part through the signal processing module to suppress the vibration of the flexible hinged plate body.
The signal processing module comprises an adaptive amplifier, an acquisition control card, a terminal board and a voltage amplifier, wherein a vibration detection part detects a vibration signal of the flexible hinged board body, the vibration signal is transmitted to the terminal board after being modulated by the adaptive amplifier, an analog signal is converted into a digital signal through an A/D conversion module in the acquisition control card and then is input into a computer, the computer runs a corresponding active control algorithm, the control signal is output through the acquisition control card, the signal is transmitted through the terminal board, and the signal is amplified through the voltage amplifier and then is output to a drive control part, so that the vibration of the flexible hinged board body is suppressed.
Furthermore, the number and the specific sticking position of the piezoelectric sheet drivers (4) can be designed according to the size and the material of the flexible hinged plate body. The light spot position projected on the flexible hinge plate body by the slide projector (5) can be designed according to the vibration information of the flexible hinge plate body, which is desired by a measurer. The flexible hinged plate vibration control device based on binocular vision measurement can be used for simulating the vibration condition of a solar panel in space, and under the condition that the environment where the solar panel is located has no light source, the vibration information of the solar panel is obtained in a mode that a slide projector (5) projects mark points and a camera is combined for detection.
In this embodiment, the flexible board that uses is the epoxy material sheet metal, and what be connected with the stiff end is that the size of first flexible board is 550mm x 500mm x 2mm, and the size of second flexible board is 50mm x 500mm x 2mm. The elastic modulus of the epoxy resin is E p =34.64Gpa at a density of ρ =1840kg/m 3 . The industrial camera (1) adopts a GIGE camera with model number of acA-60 gc, which is produced by Germany Basler company, and adopts a CMOS photosensitive chip, the highest frame rate is 60fps, and the resolution is 1600 multiplied by 1200; the lens of the light management company is selected, the model is FL-HC0614-2M, the focal length is 6mm, the size is phi 32mm multiplied by 35.7mm, the slide rail is a slide rail which is produced by MISUMI company and has the model of SENA33H-400-V10-W70, and the length is 400mm. The projector (5) is a 130af projector with model number E130 produced by German Bailing company and is provided with a 24V/150W high-intensity lamp. The piezoelectric sheet driver (4) is made of piezoelectric ceramic materials, the geometric dimension is 45mm multiplied by 15mm multiplied by 1mm, the piezoelectric sheet driver is pasted on the flexible plate in a sheet shape, the distance from the fixed end is 230mm or 20mm, the distance from the upper edge and the lower edge of the plate in the width direction is 45mm, and the elastic modulus of the piezoelectric ceramic materials is E p =63gpa, d31= -166pm/V. AddingThe speed sensor (2) is a capacitance type sensor with the model number 8310B10 of Kistler company, the nominal sensitivity of the capacitance type sensor is 200mv/g, and the measuring frequency range is 0-180Hz. The acquisition control card selects a DMC-2x00 digital motion controller produced by the American GALIL company to provide a standard PCI bus interface; the CPU model of the selected computer is core76650U2.2GHz, the memory is 4G, and a PCI-e slot is arranged in a mainboard and can be provided with an acquisition control card. The voltage amplifier can be composed of piezoelectric amplifiers with the models of APEX-PA241DW or APEX-PA240CX and the like, and the amplification factor can reach 52 times, namely, the amplification factor is from-5V to +5V to-260V.
Example 2:
the embodiment provides a vibration control method of a flexible hinged plate based on binocular vision measurement, which comprises the following steps:
1. opening a slide projector (5) to project the light spots of the mark points on the flexible hinged plate body, and detecting the vibration of the flexible hinged plate body by using an industrial camera (1) and an acceleration sensor (2) to obtain corresponding vibration signals;
in this step, a flow chart of the industrial camera (1) for calibrating the light spot of the mark point is shown in fig. 3, and the method includes the following steps:
firstly, establishing a coordinate system: at the midpoint O of the front surface of the second flexible board w For the origin of coordinates, a world coordinate system O is established W -X W Y W Z W (ii) a With the optical center O of the camera c As an origin, a camera coordinate system O is established c -X c Y c Z c (ii) a Using the first pixel in the upper left corner of the image as the origin O 0 Establishing an image coordinate system O 0 -UV; by the center point O of the image 1 As an origin, an imaging plane coordinate system O is established 1 -XY。
Second, the transformation of the world coordinate system coordinates of any point in space (e.g., point P) to the coordinates of the camera coordinate system can be described by the rotation matrix R and the translation vector t:
wherein (x) c y c z c )、(x w y w z w ) The coordinates of the point P in the camera coordinate system and the world coordinate system, respectively. R is an orthogonal identity matrix and t is a three-dimensional translation vector.
Thirdly, in the calibration, the model used by the camera is a pinhole model, so the imaging process has the following coordinate transformation:
wherein, (x y) is the coordinate of P point in the image, (x) c y c z c ) Is the coordinate of the point in the camera coordinate system, and f is the camera lens focal length. The above formula is expressed in matrix form as:
and synthesizing to obtain the transformation relation between the imaging plane coordinate system coordinates and the world coordinate system coordinates:
fourth step, origin O of image coordinate system 0 The coordinate point (U V) represents the pixel point of the U-th column and the V-th row in the image. The intersection point of the optical axis of the camera and the image plane is O 1 (u 0 v 0 ) The point is the center of the image, the point is taken as the origin, and the X axis and the Y axis respectively establish an imaging plane coordinate system O along the width direction and the height direction of the image 1 -XY. Assuming that the physical dimensions of each pixel in the X-axis and Y-axis directions are dx and dy, respectively, any pixel in the image has the following relationship in two coordinate systems:
expressed in matrix form:
in summary, the transformation relationship between the image coordinate system coordinates and the world coordinate system coordinates of any point P can be obtained:
in the formula (I), the compound is shown in the specification,
u 0 、v 0 the four parameters are only related to the internal structure of the camera and are called as the internal parameters of the camera; and the matrix R and the vector t are related to the position and attitude of the camera, and are not related to the camera structure, and are called camera extrinsic parameters. The process of determining the internal and external parameters of the camera is the camera calibration. In the camera calibration method in the experiment, a chessboard calibration plate-based Zhang Zhengyou calibration method is adopted, namely, the coordinates of characteristic points of a shot black and white chessboard calibration plate image are extracted, the inner and outer parameters of a camera model are obtained by utilizing a maximum likelihood estimation method, and an opencv or MATLAB calibration tool box can be used in actual operation.
A flow chart of a measuring mode of a binocular vision measuring system consisting of two industrial cameras (1) is shown in fig. 4;
2. the vibration signal acquired by the acceleration sensor (2) in the first step is modulated by an adaptive amplifier and then transmitted to a terminal board, an analog signal is converted into a digital signal by an A/D conversion module in an acquisition control card and then input into a computer, and the vibration signal acquired by the industrial camera (1) is directly input into the computer;
3. the computer runs a corresponding active control algorithm, the obtained vibration control signal is output through the D/A conversion module of the acquisition control card, is transmitted through the information of the terminal board, is amplified by the voltage amplifier and then is output to the drive control part, and the vibration of the flexible hinge plate body is suppressed;
4. and changing control parameters, repeatedly testing, and obtaining a plurality of test results to obtain the vibration characteristic and the control effect of the flexible hinged plate body.
The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and the inventive concept within the scope of the present invention, which is disclosed by the present invention, and the equivalent or change thereof belongs to the protection scope of the present invention.
Claims (5)
1. The utility model provides a flexible articulated slab vibration controlling means based on binocular vision is measured which characterized in that: the flexible hinged plate comprises a flexible hinged plate body, a vibration detection part, a driving control part, a signal processing module and a computer; the flexible hinged plate body is formed by connecting two flexible plates made of the same material together through a hinge, one end of the formed flexible hinged plate body is suspended and clamped on a support fixed on the horizontal experiment table I through a mechanical clamping device, the flexible hinged plate body is vertical to the horizontal plane, and the other end of the flexible hinged plate body is a free end; the vibration detection part comprises a camera detection part and a plurality of acceleration sensors, the camera detection part comprises two industrial cameras and a slide projector, the two industrial cameras are fixed on a horizontal experiment table II through slide rails to form a binocular vision measurement system, the slide projector is also arranged on the horizontal experiment table II and projects light spots onto the flexible hinged plate body, and the lens planes of the two industrial cameras are parallel to the flexible hinged plate body and align with the light spots projected on the flexible hinged plate body by the slide projector; a plurality of acceleration sensors are arranged at the edge of the flexible hinged plate body close to the free end; the drive control part comprises a plurality of piezoelectric sheet drivers, and the two sides of the piezoelectric sheet drivers are stuck on the flexible plate of the flexible hinge plate body close to the fixed end; the vibration detection part detects a vibration signal of the flexible hinged plate body, the vibration signal is input into a computer through the signal processing module, the computer runs a corresponding active control algorithm, and then the vibration signal is output to the driving control part through the signal processing module to inhibit the vibration of the flexible hinged plate body;
the signal processing module comprises an adaptive amplifier, an acquisition control card, a terminal board and a voltage amplifier, wherein a vibration detection part detects a vibration signal of the flexible hinged board body, the vibration signal is transmitted to the terminal board after being modulated by the adaptive amplifier, an analog signal is converted into a digital signal through an A/D conversion module in the acquisition control card and then is input into a computer, the computer runs a corresponding active control algorithm, the control signal is output through the acquisition control card, is transmitted through the terminal board, is output to a drive control part after being amplified by the voltage amplifier, and the vibration of the flexible hinged board body is inhibited;
the drive control part comprises a plurality of piezoelectric sheet drivers, wherein 4 piezoelectric sheet drivers are adhered to the front and back sides of the flexible plate body close to the center line of the fixed end of the flexible hinged plate body, and each two piezoelectric sheet drivers are symmetrically adhered and connected in parallel and are used for controlling the torsional vibration of the flexible plate; the 8 piezoelectric sheet drivers are adhered to the front and back sides of the flexible plate body close to the two sides of the center line of the flexible plate at the fixed end, and four piezoelectric sheet drivers are symmetrically adhered to each side and connected in parallel for controlling the bending vibration of the flexible plate; and a piezoelectric piece driver is also stuck at the middle position of the right side of the flexible plate close to the fixed end in the width direction and is used as a bending vibration sensor.
2. The binocular vision measurement-based flexible hinged plate vibration control device of claim 1, wherein: the number and the specific sticking position of the piezoelectric sheet drivers can be designed according to the size and the material of the flexible hinged plate body.
3. The binocular vision measurement-based vibration control device for the flexible hinged plate according to claim 1, wherein: the light spot position projected on the flexible hinge plate body by the slide projector can be designed according to the vibration information of the flexible hinge plate body, which is desired by a measurer.
4. The binocular vision measurement-based vibration control device for the flexible hinged plate according to claim 1, wherein: the flexible hinged plate vibration control device based on binocular vision measurement can be used for simulating the vibration condition of a solar panel in space, and under the condition that the environment where the solar panel is located has no light source, the vibration information of the solar panel is obtained by using a projector projection mark point and combining a camera detection mode.
5. A method of flexible hinge plate vibration control apparatus in accordance with claim 1, said method comprising the steps of:
1. opening a slide projector to project mark point light spots on the flexible hinged plate body, and detecting the vibration of the flexible hinged plate body by using an industrial camera and an acceleration sensor to obtain a corresponding vibration signal;
2. modulating a vibration signal acquired by the acceleration sensor in the first step through an adaptive amplifier and transmitting the modulated vibration signal to a terminal board, converting an analog signal into a digital signal through an A/D (analog/digital) conversion module in an acquisition control card and inputting the digital signal into a computer, and directly inputting the vibration signal acquired by the industrial camera into the computer;
3. the computer runs a corresponding active control algorithm, the obtained vibration control signal is output through the D/A conversion module of the acquisition control card, is transmitted through the information of the terminal board, is amplified by the voltage amplifier and then is output to the drive control part, and the vibration of the flexible hinge plate body is suppressed;
4. and changing control parameters, repeatedly testing, and obtaining a plurality of test results to obtain the vibration characteristic and the control effect of the flexible hinged plate body.
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