CN107421627B - Vibration form visual measurement device and method based on speed reducer driving flexible beam - Google Patents
Vibration form visual measurement device and method based on speed reducer driving flexible beam Download PDFInfo
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- CN107421627B CN107421627B CN201710585613.XA CN201710585613A CN107421627B CN 107421627 B CN107421627 B CN 107421627B CN 201710585613 A CN201710585613 A CN 201710585613A CN 107421627 B CN107421627 B CN 107421627B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
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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
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- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention discloses a visual measurement device and a visual measurement method for vibration forms of a flexible beam driven by a speed reducer, wherein the visual measurement device comprises a servo motor, a planetary gear speed reducer, the flexible beam, an acceleration sensor, a motor servo controller, a motion control card, a terminal board, an adaptive amplifier and a computer; meanwhile, the device can also analyze the vibration mode characteristics of the rotary flexible beam.
Description
Technical Field
The invention relates to the field of vibration test and analysis, in particular to a visual measurement device and method for driving a flexible beam to vibrate based on a speed reducer.
Background
The rotary flexible cantilever beam has wide application in practical engineering, and is mainly applied to flexible joints and flexible mechanical arms of spacecrafts, and the model can be used for simulating the rotary wings and turbine blades of an aircraft. Compared with a rigid mechanical arm, the flexible cantilever has the advantages of light weight, low energy consumption, high efficiency, flexible operation and the like, but due to the characteristics of the flexible cantilever Liang Xichang, light weight, low rigidity, large flexibility and the like, when the flexible attachment of the space flexible robot and the spacecraft rotates to adjust the pose or is subjected to external disturbance, the vibration of the cantilever is easy to be caused, especially the vibration on the modal frequency with small amplitude at the balance point is easy to cause, if the vibration cannot be restrained rapidly, the stability and the pointing precision of a system are affected, so that the reliability of the related system is reduced, and even catastrophic loss is brought. The slender rigid mechanical arm is adopted for the rotating wings and the turbine blades of the aircraft, the inertia is not easy to change due to larger external resistance, the vibration and larger impact of the mechanical arm are easy to cause when the rotating wings and the turbine blades are started and stopped, and the impact breakage of the mechanical arm is easy to cause economic loss and even safety accidents due to the fact that proper vibration inhibition is not carried out. Although research on the rotary cantilever beam is widely focused at home and abroad, the research on the rotary flexible articulated beam is relatively less, and the rotary cantilever beam is indispensable in practical engineering application, so that the research on the active vibration suppression of the rotary flexible articulated beam becomes an important subject which is generally focused at home and abroad in the world today and is challenging.
The motor has longer positive and negative rotation adjusting time, and hysteresis caused by the clearance of the planetary gear reducer has certain limitation on the application of various control devices for the vibration of the flexible beam.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a visual measuring device and a visual measuring method for driving a flexible beam to vibrate based on a speed reducer.
The invention adopts the following technical scheme:
a visual measuring device for driving a vibration form of a flexible beam based on a speed reducer comprises a servo motor, a planetary gear speed reducer, the flexible beam, an acceleration sensor, a motor servo controller, a motion control card, a terminal board, an adaptive amplifier and a computer;
the servo motor is connected with a planetary gear reducer which is fixed on a motor mounting seat;
one end of the flexible beam is freely called a free end, the other end of the flexible beam is clamped by a mechanical clamping device to be called a fixed end, the mechanical clamping device is connected to an output shaft of the planetary gear reducer, and the flexible beam rotates along with the output shaft;
the acceleration sensor is arranged at the free end of the flexible beam and is positioned on the central line in the width direction, the acceleration sensor detects vibration information of the flexible beam, detected signals are processed by the adaptive amplifier and then output to the terminal board, the terminal board is connected with the motion control card, and the motion control card is connected with the computer;
the camera is arranged on the experiment table through a camera mounting frame, and the camera shoots a flexible beam picture and inputs the flexible beam picture into the computer;
the servo motor detects the angular displacement of the servo motor by the encoder, and the angular displacement is input into the computer through the motor servo controller and the motion control card, and the motor servo controller is connected with the motion control card.
The camera mount is mounted such that the optical axis of the camera is parallel to the upper surface of the flexible beam and such that the flexible Liang Chushi position is centered between the imaging range of the camera.
Still include the laboratory bench, motor mount pad and camera mounting bracket are all placed on the laboratory bench.
A method for driving a vibration form vision measuring device of a flexible beam based on a speed reducer comprises the following steps:
firstly, selecting a planetary gear reducer with lower precision, wherein an output shaft of the planetary gear reducer is larger, a control instruction sent by a computer is converted into a current signal through a motion control card and a motor servo controller to drive a servo motor to rotate for a certain angle and then stop, an encoder detects the angular displacement of the servo motor at the moment, a digital quantity is formed through the motor servo controller and the motion control card, and then the digital quantity is input into the computer;
secondly, because a gap exists between the output shafts of the planetary gear reducer, when the servo motor stops rotating, the flexible beam still continues rotating due to inertia, the flexible beam reciprocates and vibrates in a gap range, and the camera detects vibration information of the flexible beam and the mechanical clamping device and inputs the vibration information into the computer;
the acceleration sensor detects vibration information of the free end of the flexible beam and inputs the vibration information into the computer through the adaptive amplifier, the terminal board and the motion control card;
the third step is to change the low-precision planetary gear reducer into high-precision planetary gear reducer, and repeat the first step and the second step;
and fourthly, according to signals detected by the encoder, the acceleration sensor and the camera when the planetary gear reducer with different precision is driven forward, the computer uses the three signals to analyze the influence of the forward driving of the gaps of the different reducers on the vibration form of the flexible beam.
The invention has the beneficial effects that:
(1) The device in the invention is a device for driving a planetary gear to reduce speed by a motor, and the flexible beam is vibrated by the clearance of the planetary gear reducer, compared with a gapless reducer, the vibration characteristic of the rotary driving is complex, and the device can analyze the influence of the clearance characteristic on the vibration form of the rotary flexible beam.
(2) Compared with other sensors, the machine vision is used for detecting vibration information of the mechanism, and the machine vision has non-contact measurement, so that the additional mass of the structure is not increased, and the structural characteristics are not changed. The machine vision measurement results in an image containing vibration information, and the information in the image is rich, so that the global characteristics of the mechanism vibration can be reflected.
(3) The device comprises a plurality of sensors, the combination of the visual sensor and the acceleration sensor is that the measurement of vibration signals is more accurate, and meanwhile, the influence of different reducer gaps on the vibration form of the flexible beam can be obtained through comparative analysis.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Examples
As shown in FIG. 1, the visual measuring device for driving the vibration form of the flexible beam based on the speed reducer comprises a servo motor 5, a planetary gear speed reducer 4, a flexible beam 2, an acceleration sensor 1, a motor servo controller, a motion control card, a terminal board, an adaptive amplifier and a computer;
the motor mount pad 8 is fixed on the laboratory bench, and servo motor with encoder 6 is connected with planetary gear reducer 4, and planetary gear reducer 4 is fixed on the motor mount pad, and the angular displacement that the encoder detected servo motor is input into the computer through motor servo controller and motion control card, plays the effect of motion location to the flexible roof beam.
One end of the flexible beam is freely called a free end, the other end is clamped by a mechanical clamping device 9 to be called a fixed end, the mechanical clamping device is connected to an output shaft of the planetary gear reducer, and the flexible beam can rotate along with the output shaft.
The acceleration sensor 1 is clamped and fixed at the free end of the flexible beam through a screw and a nut, is positioned on a middle line in the width direction and is 50mm away from the boundary of the free end, detects vibration information of the flexible beam, and outputs detected signals to a terminal board after being processed by an adaptive amplifier, wherein the terminal board is connected with a motion card, and the motion control card is connected with a computer;
the acceleration sensor in this embodiment is a single-axis acceleration sensor, and is a model 8310B2 low-frequency capacitive acceleration sensor manufactured by Kistler company, switzerland, the weight is about 17g, the detection frequency response range is 0-250 Hz, and the offset amplifier of the acceleration is the power supply or amplifying circuit for the acceleration sensor.
The camera 7 is fixed on the camera mounting frame 3 through screws, the camera mounting frame 3 is arranged on the experiment table, and vibration signals obtained by the camera when the flexible beam is started and rotated are input into the computer; the camera mount 3 is mounted so that the optical axis of the camera 7 is parallel to the width direction of the initial position of the flexible beam 2 and parallel to the imaging plane of the initial position of the flexible beam 2;
the camera is a KP-FM400WCL color 400 ten thousand-pixel high-speed industrial camera manufactured by Hitachi corporation in Japan, which adopts a 1 inch image sensor and a high-performance digital processor, the effective resolution reaches 2048X 2048, the frame rate is 150 frames/second, the high definition and the high frame rate are realized simultaneously, a standard C-Mount interface is adopted, and the shell size is as follows: 44mm×44mm×41mm, power supply requirement: 12VDC. And inputting the visual signals acquired by the camera into a computer for correlation processing.
And selecting one channel of the motion controller as a motor control channel, correctly connecting an alternating current servo motor to the motor servo controller in a speed control or position control mode, connecting the motor servo controller with the motion controller in a bidirectional way, controlling the rotation of the servo motor, connecting an output shaft of the alternating current servo motor to an input shaft of a planetary gear reducer, and driving a flexible beam to rotate, wherein the flexible beam is made of epoxy plate materials, and the geometric size of the flexible beam is 350mm multiplied by 100mm multiplied by 6mm.
According to the device, through measuring the angular displacement information of the motor end, the acceleration information of the tail end of the rotating flexible beam and the vibration form information of the flexible beam detected by the vision sensor; the device can be used for analyzing the influence of different reducer clearances on the vibration form of the driving flexible beam and can also be used for reversely driving the influence on the vibration form of the flexible beam; and, can also analyze the vibration form of rotatory flexible beam and cantilever beam vibration form's difference.
A method for visually measuring vibration morphology of a driven flexible beam based on a speed reducer comprises the following steps:
firstly, selecting a planetary gear reducer with lower precision, wherein an output shaft of the planetary gear reducer is larger, a control instruction sent by a computer is converted into a current signal through a motion control card and a motor servo driver to drive a servo motor to rotate for a certain angle and then stop, an encoder detects the angular displacement of the servo motor at the moment, a digital quantity is formed through the motor servo controller and the motion control card, and then the digital quantity is input into the computer;
secondly, because a gap exists between the output shafts of the planetary gear reducer, when the servo motor stops rotating, the flexible beam still continues rotating due to inertia, the flexible beam reciprocates and vibrates in a gap range, and the camera detects vibration information of the flexible beam and the mechanical clamping device and inputs the vibration information into the computer;
the acceleration sensor detects vibration information of the free end of the flexible beam and inputs the vibration information into the computer through the adaptive amplifier, the terminal board and the motion control card;
the third step is to change the low-precision planetary gear reducer into high-precision planetary gear reducer, and repeat the first step and the second step;
and fourthly, according to signals detected by the encoder, the acceleration sensor and the camera when the planetary gear reducer with different precision is driven forward, the computer uses the three signals to analyze the influence of the forward driving of the gaps of the different reducers on the vibration form of the flexible beam.
The encoder is used for detecting the angular displacement of the motor movement and has a positioning function on the movement of the flexible arm; the signals detected by the acceleration sensor and the camera are used as detection signals of vibration of the flexible arm, and the computer obtains vibration form influence by analyzing the data. By using the method, the influence on the vibration form generated by driving the flexible arm is analyzed when the speed reducers with different precision are used in the experimental device;
the vibration mode refers to a low-frequency vibration mode which is shown by a flexible beam under the conditions of boundary moment input, speed reducer clearance and the like under the driving of a flexible Liang Zaihang star speed reducer.
When the output shaft of the planetary gear reducer has a gap, and the servo motor stops rotating, the flexible beam still continues rotating due to inertia until one end of the flexible beam rotates through the gap by the mechanical clamping device to reach the boundary of the gap, but the mechanical clamping device also reciprocates in the gap range, the camera detects vibration information of the flexible beam, including the rotation of the mechanical clamping device with the gap, and a signal obtained by the camera detection is directly input into a computer for subsequent processing; meanwhile, information of an acceleration sensor is collected and input to a computer; according to the detected signals, the method can be used for analyzing the influence of different reducer clearance forward driving on the vibration form of the flexible beam.
Analyzing the influence of different reducer clearance reverse driving on the vibration form of the flexible beam, wherein the clearance exists on the output shaft of the planetary gear reducer when the servo motor reverse driving starts, namely, the output shaft of the planetary gear reducer starts to rotate after the servo motor rotates by a certain angle, and after the servo motor stops driving, the planetary gear reducer has the clearance, the flexible beam still continues to rotate due to inertia until the flexible beam stops moving when the clearance is larger in finishing resistance, and the detection amounts measured by the reverse driving camera, the encoder and the acceleration sensor are used for analyzing the influence of different reducer clearance reverse driving on the vibration form of the flexible beam.
According to the invention, the influence of different reducer clearances on the vibration of the cantilever beam is analyzed, the relation between a motor motion code disc signal and a cantilever beam vibration signal detected by a camera when the reducer with the clearance is driven reversely is analyzed, and the vibration mode characteristic of the flexible beam is obtained; and analyzing the edge vibration mode characteristics of the flexible beam by using signals acquired by a visual sensor formed by the acceleration sensor and the camera.
When the servo motor drives the planetary gear reducer forward or backward, different motor motion code disc signals and cantilever beam vibration signals are obtained by utilizing different clearances of the planetary gear reducer with different precision, and the relation between the motor motion code disc signals and the cantilever beam vibration signals can be analyzed through comparison. Meanwhile, the device can also analyze the edge vibration mode characteristics of the flexible beam by using signals collected by a visual sensor formed by the acceleration sensor and the camera.
The embodiments described above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.
Claims (4)
1. The visual measuring device based on the vibration form of the speed reducer driven flexible beam is characterized by comprising a servo motor, a planetary gear speed reducer, a flexible beam, an acceleration sensor, a motor servo controller, a motion control card, a terminal board, an adaptive amplifier and a computer;
the servo motor is connected with a planetary gear reducer which is fixed on a motor mounting seat;
one end of the flexible beam is freely called a free end, the other end of the flexible beam is clamped by a mechanical clamping device to be called a fixed end, the mechanical clamping device is connected to an output shaft of the planetary gear reducer, and the flexible beam rotates along with the output shaft;
the acceleration sensor is arranged at the free end of the flexible beam and is positioned on the central line in the width direction, the acceleration sensor detects vibration information of the flexible beam, detected signals are processed by the adaptive amplifier and then output to the terminal board, the terminal board is connected with the motion control card, and the motion control card is connected with the computer;
the camera is arranged on the experiment table through a camera mounting frame, and the camera shoots a flexible beam picture and inputs the flexible beam picture into the computer;
the servo motor detects the angular displacement of the servo motor by the encoder, and the angular displacement is input into the computer through the motor servo controller and the motion control card, and the motor servo controller is connected with the motion control card;
when the output shaft of the planetary gear reducer has a gap, and the servo motor stops rotating, the flexible beam still continues to rotate due to inertia until one end of the flexible beam rotates through the gap by the mechanical clamping device to reach the boundary of the gap;
the mechanical clamping device also reciprocates in the gap range, the camera detects vibration information of the flexible beam, the vibration information comprises the rotation of the mechanical clamping device with the gap, and a signal detected by the camera is directly input into a computer for subsequent processing; meanwhile, information of an acceleration sensor is collected and input to a computer; according to the detected signals, the method can be used for analyzing the influence of different reducer clearance forward driving on the vibration form of the flexible beam;
analyzing the influence of different reducer gaps on the vibration of the cantilever beam, analyzing the relation between a motor motion code disc signal and a cantilever beam vibration signal detected by a camera when the reducer with the gap is driven reversely, and simultaneously obtaining the vibration mode characteristic of the flexible beam; and analyzing the edge vibration mode characteristics of the flexible beam by using signals acquired by a visual sensor formed by the acceleration sensor and the camera.
2. The reducer driven compliant beam vibration morphology vision measurement apparatus of claim 1, wherein the camera mount is mounted such that the optical axis of the camera is parallel to the upper surface of the compliant beam and such that the compliant Liang Chushi position is centered within the imaging range of the camera.
3. The vision measuring device based on the vibration form of the speed reducer driven flexible beam according to claim 1, further comprising a laboratory bench, wherein the motor mounting seat and the camera mounting frame are both arranged on the laboratory bench.
4. A method of driving a flexible beam vibration morphology vision measuring apparatus based on a decelerator according to any one of claims 1-3, comprising the steps of:
firstly, selecting a planetary gear reducer with lower precision, wherein an output shaft of the planetary gear reducer is larger, a control instruction sent by a computer is converted into a current signal through a motion control card and a motor servo controller to drive a servo motor to rotate for a certain angle and then stop, an encoder detects the angular displacement of the servo motor at the moment, a digital quantity is formed through the motor servo controller and the motion control card, and then the digital quantity is input into the computer;
secondly, because a gap exists between the output shafts of the planetary gear reducer, when the servo motor stops rotating, the flexible beam still continues rotating due to inertia, the flexible beam reciprocates and vibrates in a gap range, and the camera detects vibration information of the flexible beam and the mechanical clamping device and inputs the vibration information into the computer;
the acceleration sensor detects vibration information of the free end of the flexible beam and inputs the vibration information into the computer through the adaptive amplifier, the terminal board and the motion control card;
the third step is to change the low-precision planetary gear reducer into high-precision planetary gear reducer, and repeat the first step and the second step;
and fourthly, according to signals detected by the encoder, the acceleration sensor and the camera when the planetary gear reducer with different precision is driven forward, the computer uses the three signals to analyze the influence of the forward driving of the gaps of the different reducers on the vibration form of the flexible beam.
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| CN108843554B (en) * | 2018-06-26 | 2020-12-25 | 南京理工大学 | Noise measuring device based on two-degree-of-freedom mechanical arm |
| CN109916621B (en) * | 2019-03-28 | 2020-11-03 | 中科新松有限公司 | Harmonic reducer vibration testing device |
| CN110031170A (en) * | 2019-04-24 | 2019-07-19 | 华南理工大学 | A kind of flexible hinged plate vibration measurement control device and control method |
| CN110132517B (en) * | 2019-05-29 | 2023-09-29 | 华南理工大学 | Multi-flexible piezoelectric beam coupling vibration analysis control device and method |
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