CN110108347A - A kind of device and method of flexible cantilever vibration of beam non-contact measurement and Untouched control - Google Patents
A kind of device and method of flexible cantilever vibration of beam non-contact measurement and Untouched control Download PDFInfo
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- CN110108347A CN110108347A CN201910392555.8A CN201910392555A CN110108347A CN 110108347 A CN110108347 A CN 110108347A CN 201910392555 A CN201910392555 A CN 201910392555A CN 110108347 A CN110108347 A CN 110108347A
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- flexible cantilever
- vibration
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- contact measurement
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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Abstract
The present invention relates to the device and method of a kind of flexible cantilever vibration of beam non-contact measurement and Untouched control, which includes flexible cantilever beam, cantilever beam support, binocular CCD camera, camera carriage, laser pen, electromagnetic coil, PC machine, electromagnetic controller.It is characterized by: described flexible cantilever beam one end is fixed by cantilever beam support, referred to as fixing end, the other end are free end；The binocular CCD camera is placed in the front of flexible cantilever beam, two camera horizontal parallel arrangements, binocular CCD camera acquires laser pen mark point image, obtains the image sequence of flexible cantilever deflection of beam and twisting vibration information, by data line by image transmitting to PC machine；The electromagnetic coil is arranged symmetrically in flexible cantilever beam two sides, and identical height level is kept with flexible cantilever beam, vibration control information is sent electromagnetic controller by the collected vibrational image sequence of PC machine processing, the magnetism of electromagnet is controlled, realizes the vibration control to flexible cantilever beam.The present invention can not contact, do not change testee vibration characteristics realization non-contact measurement and control, can be widely used research.
Description
Technical field
The present invention relates to the non-cpntact measurements of space large-scale flexible cantilever beam structure and non-contacting vibration control field, specifically
It is the device and method of a kind of flexible cantilever vibration of beam non-contact measurement and Untouched control.
Background technique
With the rapid development of aeronautical and space technology, large-scale flexible cantilever beam structure is on the spacecrafts such as space station, satellite
It is widely applied, the payload of spacecraft can be improved due to light weight in large-scale flexible cantilever beam structure；Lower rigidity, can
To reduce difficulty of processing, it also can reduce the volume for executing workpiece and improve the execution efficiency for executing workpiece.But due to big
The rigidity of type flexible cantilever girder construction is low, and structural damping is small, and when being acted on by dynamic excitation, it is existing that structure will generate flutter
As eventually even will lead to fatigue damage.Therefore these large-scale flexible cantilever vibration of beams of analysis and Control just seem critically important.
In the prior art, mainly have for the vibration measurement of flexible mechanical arm using acceierometer sensor, angular speed top
The methods of spiral shell instrument sensor, photoelectrical position sensor and pressure point piece.；Acceierometer sensor and angular rate gyroscope sensor pair
Noise-sensitive, the problems such as there is sluggish and temperature drift, influence its precision, and can only measure the displacement of certain point on object, to acquisition
All information, it is necessary to be respectively arranged several accelerometers or angular rate gyroscope on a cantilever beam；The survey of photoelectrical position sensor
Range is measured compared with small, structure is complicated, operation difficulty is big, calculating process is cumbersome and expensive；, piezoelectric material due to self-strength,
The factors such as fatigue life and heat resistance, using being subject to certain restrictions.
In the research of large-scale flexible cantilever beam structure vibration measurement, there is its unique using binocular vision non-cpntact measurement
Advantage, and can also quick obtaining measurement data.Binocular vision does not change vibration object in the case where not contacting testee surface
The characteristics such as frequency, the amplitude of body are compared with monocular vision, and binocular vision can calculate the three-dimensional coordinate of spatial point, can be obtained
The advantages that taking the parameter information of the structural vibration of object multiple spot, and being not limited solely to the vibration information of a bit.In large-scale flexible
In the research of cantilever beam structure vibration control, the peculiar advantage controlled using electromagnet non-contacting vibration can not change knot
Under the premise of structure characteristic, non-contacting vibration control is realized.
Summary of the invention
A kind of the object of the present invention is to provide structures simple, the stable Vibrations of A Flexible Robot Arm based on binocular vision of performance
The device and method of measurement and control can be realized in real time accurately to flexible mechanical arm non-cpntact measurement and non-contacting vibration control
System.
The present invention realize goal of the invention adopt the following technical scheme that a kind of flexible cantilever vibration of beam non-contact measurement with
The device and method of Untouched control, the device include flexible cantilever beam, cantilever beam support, binocular CCD camera, camera support
Frame, laser pen, electromagnetic coil, PC machine, electromagnetic controller, coil brace.Described flexible cantilever beam one end passes through cantilever beam branch
Frame is fixed, referred to as fixing end, and the other end is free end；The binocular CCD camera is placed in the front of flexible cantilever beam,
Two camera horizontal parallel arrangements, binocular CCD camera acquire laser mark point image, obtain flexible cantilever deflection of beam and torsion
The image sequence of vibration information, by data line by image transmitting to PC machine；The electromagnetic coil is arranged symmetrically in flexible cantilever
Beam two sides, and identical height level, the collected vibrational image sequence of PC machine processing, by vibration control are kept with flexible cantilever beam
Information is sent to electromagnetic controller, controls the magnetism of electromagnetic coil, realizes and controls the non-contacting vibration of flexible cantilever beam.
A kind of device and method of flexible cantilever vibration of beam non-contact measurement and Untouched control, feature exist
In steps are as follows:
Step 1: demarcating to binocular camera, the calibration includes establishing coordinate system, the transformation between coordinate system,
Then single camera is demarcated, completes the matching of left images plane respective point.
Step 2: the image sequence of the collected vibration displacement information of camera is transferred to PC machine.
Step 3: determining laser index point in image sequence using principle of parallax according to the image sequence of incoming PC machine
Three-dimensional coordinate.
Step 4: measuring the index point three-dimensional coordinate of each image sequence using third step, vibration displacement curve is drawn.
Step 5: PC machine sends vibration control and instructs to electromagnetic controller according to the vibration displacement information that the 4th pacing obtains,
The magnetism of electromagnetic coil is controlled, realizes the vibration non-contact control to flexible mechanical arm.
Compared with prior art, the present invention its advantages are embodied in: (1) utilizing the vibration of Machine Vision Detection flexible structure
Dynamic displacement, has many advantages, such as the vibrational structure characteristic that non-contact, measurement range is wide, does not change measured object.Measurement in the present invention
Method does not need to install any additional device or equipment on flexible board, does not change the physical attribute of flexible structure, improves survey
Accuracy of measurement；(2) index point measured using laser tabula rasa as vibration displacement, easy to operate, easy to implement, environmental disturbances
It is small.(3) it realizes that non-contacting vibration controls using electromagnetic coil, relative to contact vibration control, can be realized and do not change structure
Characteristic accurately realizes vibration control.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the invention
Specific embodiment
Explanation is further explained to the present invention below by way of specific embodiments and drawings, but embodiments of the present invention are not
It is limited to this.
As shown in Figure 1, a kind of device of flexible cantilever vibration of beam non-contact measurement and Untouched control, comprising outstanding
Arm beam 1, described 2 one end of flexible cantilever beam is fixed by cantilever beam support 4, and referred to as fixing end, the other end are free end, electromagnetic wire
The two sides positioned at flexible cantilever beam 2 of circle 2 respectively symmetrically, electromagnetic coil are fixed by coil brace 1, and binocular CCD camera 5 is by two
Industrial camera composition, is located at same level height, and the optical axis and flexible cantilever beam of binocular CCD camera 5 with flexible cantilever beam 2
2 is vertical, and laser pen 6 between binocular CCD camera, fixed with binocular camera 5 by camera carriage 7 by laser pen 6.
The binocular CCD camera 5 acquires the vibrational image sequence that laser pen 6 beats the hot spot on flexible cantilever beam, transmission
To computer, image procossing is carried out to the image taken as CCD camera on computers, extracts the vibration performance of hot spot,
Can be obtained by the vibration information of intersection point using certain algorithm, so as to reflect flexible cantilever girder construction low frequency bending and
Twisting vibration information.
A kind of method of flexible cantilever vibration of beam non-contact measurement and Untouched control includes the following steps:
The first step demarcates two CCD camera systems, and the calibration includes establishing between coordinate system and coordinate system
Variation, then single degradation is demarcated, completes the matching of left images plane respective point.
Step 2: the image sequence of the collected vibration displacement information of camera is transferred to PC machine.
Step 3: determining laser index point in image sequence using principle of parallax according to the image sequence of incoming PC machine
Three-dimensional coordinate.
Step 4: measuring the index point three-dimensional coordinate of each image sequence using third step, vibration displacement curve is drawn.
Step 5: PC machine sends vibration control and instructs to electromagnetic controller according to the vibration displacement information that the 4th pacing obtains,
The magnetism of electromagnetic coil is controlled, realizes the vibration non-contact control to flexible mechanical arm.
Compared with prior art, beneficial effects of the present invention: the present invention measures laser pen by binocular camera and beats in flexibility
Index point vibrational image sequence on cantilever beam realizes measurement flexible cantilever vibration of beam indirectly, realizes contactless indirect
Measurement；By solenoid controlled cantilever vibration of beam, the Untouched control of vibration is realized.With existing vibration measurement side
Case is compared, and non-contact measurement of the present invention and control can not change the vibration characteristics that vibration constructs.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of device and method of flexible cantilever vibration of beam non-contact measurement and Untouched control, which includes soft
Property cantilever beam, cantilever beam support, binocular CCD camera, camera carriage, laser pen, electromagnetic coil, PC machine, electromagnetic controller.It is special
Sign is: described flexible cantilever beam one end is fixed by cantilever beam support, referred to as fixing end, and the other end is free end；Institute
The binocular CCD camera stated is placed in the front of flexible cantilever beam, two camera horizontal parallel arrangements, the acquisition of binocular CCD camera
Laser pen mark point image obtains the image sequence of flexible cantilever deflection of beam and twisting vibration information, will be schemed by data line
As being transferred to PC machine；The electromagnetic coil is arranged symmetrically in flexible cantilever beam two sides, and keeps phase same level with flexible cantilever beam
Highly, PC machine handles collected vibrational image sequence, sends electromagnetic controller for vibration control information, controls electromagnet
Magnetism realizes the vibration control to flexible cantilever beam.
2. the device of a kind of flexible cantilever vibration of beam non-contact measurement and Untouched control according to claim 1
And method, it is characterised in that: using laser facula as index point.
3. the device of a kind of flexible cantilever vibration of beam non-contact measurement and Untouched control according to claim 1
And method, it is characterised in that: flexible cantilever beam non-contacting vibration is measured using binocular vision.
4. the device of a kind of flexible cantilever vibration of beam non-contact measurement and Untouched control according to claim 1
And method, it is characterised in that: flexible cantilever beam non-contacting vibration is controlled using high-speed double electromagnet.
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| CN201910392555.8A CN110108347A (en) | 2019-05-13 | 2019-05-13 | A kind of device and method of flexible cantilever vibration of beam non-contact measurement and Untouched control |
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| CN201910392555.8A CN110108347A (en) | 2019-05-13 | 2019-05-13 | A kind of device and method of flexible cantilever vibration of beam non-contact measurement and Untouched control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114414035A (en) * | 2022-01-21 | 2022-04-29 | 芯元(浙江)科技有限公司 | Piezoelectric sensor calibration device and method and vibration sensor |
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| CN114414035A (en) * | 2022-01-21 | 2022-04-29 | 芯元(浙江)科技有限公司 | Piezoelectric sensor calibration device and method and vibration sensor |
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Application publication date: 20190809 |