CN110579326B - Vibration detection device and method for multi-rotary-joint space solar power station - Google Patents
Vibration detection device and method for multi-rotary-joint space solar power station Download PDFInfo
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- CN110579326B CN110579326B CN201910910828.3A CN201910910828A CN110579326B CN 110579326 B CN110579326 B CN 110579326B CN 201910910828 A CN201910910828 A CN 201910910828A CN 110579326 B CN110579326 B CN 110579326B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/025—Measuring arrangements
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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 vibration detection device and a method for a multi-rotary joint space solar power station, wherein the vibration detection device comprises a multi-rotary joint space solar power station structure, a posture fixed suspension structure, a vibration excitation structure and a vibration detection structure; the multi-rotary joint space solar power station is fixed on the gesture fixed suspension so as to keep the space form of the multi-rotary joint space solar power station, the vibration excitation structure comprises two vibration exciters, the two vibration exciters are respectively connected with the multi-rotary joint space solar power station and used for exciting the multi-rotary joint space solar power station to generate vibration, and the vibration detection structure comprises three groups of binocular vision units and is used for detecting a solar panel array and an antenna marking point of the multi-rotary joint solar power station so as to obtain vibration information of the structure.
Description
Technical Field
The invention relates to the field of vibration detection and analysis of space-deployable structures, in particular to a vibration detection device and method of a multi-rotary-joint space solar power station.
Background
With the continued growth of human demand for energy and the continued reduction of fossil energy available to the earth, clean energy available for sustainable development is being actively sought. Solar energy is taken as a main source of earth energy, how to develop and utilize solar energy is always one of the world clean energy development and research, and building a solar power station is an ideal and easy-to-realize solar energy utilization mode. However, the solar rays can be greatly attenuated when passing through the earth atmosphere, and the earth can be enabled to have day and night alternation phenomenon due to the self-rotation of the earth and the influence of overcast and rainy weather on the rays, so that the problems of low sunlight utilization rate, large fluctuation of power generation power and the like can be caused when the solar power station is built on the ground.
To solve the above problems, the concept of a space solar power station has been developed. The solar ray intensity of the space is tens of times of that of the ground, the power density of the solar power generation panel is greatly improved, and the all-weather stable power generation of the power station can be realized by applying the sun orientation technology. The space solar power station is used as a large space unfolding mechanism, is susceptible to the influence of space particle storm, solar wind, track attitude adjustment and the like to generate vibration during the on-orbit operation, and the research on the large space unfolding structure in the current academia is mainly focused on the aspect of computer simulation of structural dynamics, and the vibration analysis research on the whole structure of the space solar power station is lack of practical experimental test data.
The structural modules formed by the solar power station with multiple rotational joint spaces are more, the vibration coupling of each part of the structure is complex, more vibration information can be obtained by adopting a mode of detecting vibration by adopting a plurality of groups of binocular vision systems compared with a traditional single-point vibration detection method, and the binocular vision systems have the advantages of non-contact, easiness in deployment, vibration information visualization and the like, and the vibration detection is completed on the premise that no additional component is added to a detected structure, so that the obtained experimental data is more accurate.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the primary purpose of the invention is to provide a vibration detection device of a solar power station with multiple rotary joint spaces, and the vibration difference of a solar panel and a microwave transmitting antenna part in the structure under different attitude angles is fully considered.
Another object of the present invention is to provide a method for controlling a vibration detecting apparatus of a multi-rotational joint space solar power station.
The invention adopts the following technical scheme:
a vibration detection device of a multi-rotary joint space solar power station comprises a multi-rotary joint space solar power station structure, a posture fixing suspension structure, a vibration excitation structure and a vibration detection structure;
the multi-rotary joint space solar power station structure comprises a rectangular framework, a microwave transmitting antenna and two solar panel arrays with the same structure, wherein the two solar panel arrays are symmetrically connected to the rectangular framework through rotary joints, each solar panel array comprises N solar panels, each solar panel adopts a middle supporting mode, adjacent solar panels are connected through rotary joints, the initial angle between the receiving surface of each solar panel and the horizontal plane is 0 degree, and the microwave transmitting antenna is arranged under the rectangular framework
The attitude fixing suspension comprises a plurality of rectangular frames, the top edges of the adjacent rectangular frames are connected through an upper beam, the bottom edges of the adjacent rectangular frames are connected through a lower beam, and the multi-rotary-joint space solar power station structure is respectively connected with the upper beam and the lower beam through suspension ropes; the microwave transmitting antenna is fixed on the rectangular frame through a rotary joint, and the computer is connected with the rotary joint through a motor driving plate to change the included angles of the microwave transmitting antenna and the solar panel with the horizontal plane;
the vibration excitation structure comprises a signal generator, a power amplifier, a first vibration exciter and a second vibration exciter, wherein the signal generator is subjected to power amplification through the power amplifier and drives the first vibration exciter and the second vibration exciter to generate synchronous vibration, and the vibration of the multi-rotary-joint space solar power station structure is realized through an output ejector rod;
the vibration detection structure includes: the three sets of identical binocular vision units respectively collect vibration images of the two solar panel arrays and the microwave transmitting antenna, and each binocular vision unit comprises two high-speed cameras which are connected with a computer.
The rotary joint comprises a conductive slip ring, a mounting end cover plate and a speed reduction stepping motor, and the speed reduction stepping motor is connected with a motor driving plate.
The solar panel array is composed of six solar panels, and the upper end and the lower end of each solar panel are respectively provided with a rotary joint.
Four rectangular frames are arranged, the distance between every two adjacent rectangular frames is 2000mm, and the ground clearance of the lower cross beam is 100mm.
And round mark points are stuck on the surface of the solar panel.
The back of the microwave transmitting antenna is a circular carbon fiber board, circular mark points are stuck on the back of the microwave transmitting antenna, the front of the microwave transmitting antenna is a working surface, and the working surface is provided with an antenna array formed by a plurality of rectangular antennas.
The binocular vision system further comprises two bidirectional hydraulic holders, two linear guide rails and a supporting frame, wherein the linear guide rails are arranged on the supporting frame, and the two high-speed cameras slide on the linear guide rails through the bidirectional hydraulic holders respectively.
The number of the suspension ropes is nine, and the suspension ropes are in a tight and vertical state.
The vibration exciter is connected with the rectangular framework.
A method of vibration detection apparatus for a multi-rotational joint space solar power plant, comprising the steps of:
starting a computer, controlling each rotary joint to rotate, and enabling each solar panel and each microwave transmitting antenna to rotate to an initial position;
the high-speed camera finishes three-dimensional calibration, the object to be detected is in the visual field of the high-speed camera, and the starting mode of the high-speed camera is set as the triggering starting of the computer signal;
the signal generator generates signals, the signals are amplified to proper voltage by the power amplifier to drive the two vibration exciters to generate vibration, the vibration exciters transmit vibration excitation to the multi-rotary joint solar power station through the output ejector rod, the computer sends out camera starting signals, the three groups of binocular vision systems start to work at the same time, and structural vibration images are continuously acquired according to a set frame rate;
the computer controls the motor in the rotary joint to rotate, changes the included angle between the sunlight receiving surface of the solar panel and the working surface of the microwave transmitting antenna and the horizontal plane, and collects images under different included angles;
and transmitting the image information in the high-speed camera into a computer for carrying out mark point coordinate extraction, contour edge line identification, coordinate conversion and view reconstruction, and finally obtaining the vibration information of the whole multi-rotary joint solar power station structure.
The invention has the beneficial effects that:
(1) The method for detecting the mark points on the surface of the detected structure by adopting the binocular vision system is adopted to acquire the vibration information of the structure, and no additional sensor is required to be arranged on the detected structure except the mark points, so that the pasted mark points are uniform and symmetrical and have extremely light mass, and the influence on the original physical characteristics of the detected structure can be almost ignored;
(2) According to the invention, a plurality of groups of binocular vision systems are adopted to synchronously detect a plurality of components of the solar power station with the space of the multiple rotary joints, so that the problem that sensors are complicated and difficult to deploy in the vibration test of a large structure is solved;
(3) According to the invention, the main structure posture of the multi-rotary joint space solar power station is suspended and fixed, and the vibration test is carried out on the multi-rotary joint space solar power station by simulating the on-orbit running state; the space attitude of a local structure of the solar power station is changed in a mode of driving the rotary joints by a motor, so that vibration tests of different on-orbit running states of the multi-rotary joint space solar power station are realized;
(4) According to the invention, the multi-rotation joint space solar structure, the vibration excitation mechanism and the vibration detection mechanism are independently supported by different brackets, particularly the vibration test mechanism and the structure to be tested are mutually independent, no connection exists, the vibration of the structure to be tested can not influence the detection system, and the experimental data acquired by the binocular vision system is more accurate.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a multi-rotary joint space solar power plant of the present invention;
FIG. 3 is a schematic structural view of the binocular vision unit of the present invention;
FIG. 4 is a schematic view of a rotary joint;
fig. 5 is a top 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 to 5, a vibration detection device of a multi-rotation joint space solar power station comprises a multi-rotation joint space solar power station structure 3, a posture fixing suspension structure 1, a vibration excitation structure and a vibration detection structure;
the multi-rotary joint space solar power station structure comprises a rectangular framework 312, the rectangular framework is formed by assembling a plurality of thin-wall stainless steel pipes and connecting pieces, the rectangular framework is vertically placed, solar panel arrays are symmetrically connected to the left side and the right side of the middle point of the upper edge of the rectangular framework, the two solar panel arrays are identical in structure, the solar panel arrays are composed of six solar panels 302 in the embodiment, the solar panels adopt a middle supporting mode, adjacent solar panels are connected through rotary joints, and the solar panels located at the head and the tail in the arrays are connected with the rectangular framework through rotary joints respectively.
The initial angle of the receiving surface of each solar panel to the horizontal is 0 degrees. In this embodiment, as shown in fig. 2, the uppermost rotary joint is the first rotary joint 301.
The outer surface of each solar panel 302 is provided with a circular mark point, and the mark point is made of common A4 paper.
The invention also comprises a microwave transmitting antenna which is arranged below the middle position of the rectangular framework, and the initial angle between the working surface of the antenna and the horizontal plane is 0 degree. The back of the microwave transmitting antenna is a circular carbon fiber board, circular mark points are stuck on the back of the microwave transmitting antenna, the front of the microwave transmitting antenna is a working surface, and the working surface is provided with an antenna array formed by a plurality of rectangular antennas.
Each rotary joint comprises a conductive slip ring 3301, a mounting end cover plate 3302 and a deceleration stepping motor 3303, the computer 11 sends out pulse control signals of the motors, and the pulse signals are amplified to proper voltage through the motor driving plate 12 to drive the deceleration stepping motor 3304 to rotate, so that different working postures of the solar panel, the microwave transmitting antenna and the horizontal plane included angle simulator are changed;
the attitude-fixing suspension comprises four rectangular frames with the height of about 1.5m, six cross beams and nine suspension ropes 2, wherein the four rectangular frames are vertically arranged at equal intervals, the distance between every two adjacent rectangular frames is 2000mm, the top edges of the adjacent rectangular frames are connected through an upper cross beam, the bottom edges of the adjacent rectangular frames are connected through a lower cross beam, the ground clearance of the lower cross beam is 100mm, the upper parts and the lower parts of the nine suspension ropes are distributed in a 5-5 mode, one ends of the suspension ropes are connected to the cross beams, the other ends of the suspension ropes are connected to the multi-rotary-joint space solar power station structure, and the ropes are made of low-elasticity steel wire ropes.
In this embodiment, the first rotary joint 301, the fifth rotary joint 304, the rectangular frame upper connector 306, the tenth rotary joint 307, and the fourteenth rotary joint 309 are connected to the upper beam of the attitude-fixing suspension 1 by five suspension ropes 2, and four suspension ropes are used to connect the multiple-rotary-joint space solar power plant structure to the attitude-fixing suspension 1 below the first rotary joint 301, the fifth rotary joint 304, the tenth rotary joint 307, and the fourteenth rotary joint 309, with all suspension ropes in a tight and vertical state.
In this embodiment, the microwave transmitting antenna is fixed on the rectangular frame through four rotary joints.
The vibration excitation structure comprises a signal generator 10, a power amplifier 9, a first vibration exciter 7 and a second vibration exciter 8, wherein the vibration exciter is fixed on a supporting platform through a mounting base by using bolts, the supporting platform consists of a plurality of aluminum profiles with the lengths of 270mm and 350mm and a piece of stainless steel plate with the thickness of 5mm, the signal generator 10 generates rectangular or sinusoidal signals with certain frequency, the generated waveform signals are subjected to power amplification through the power amplifier 9 and used for driving the first vibration exciter 7 and the second vibration exciter 8 to generate synchronous vibration, and the vibration exciter transmits vibration excitation to the solar power station structure with multiple rotary joint spaces through an output ejector rod so as to generate vibration.
The output ejector rods of the two vibration exciters in the embodiment are respectively connected with a fourth connecting piece 303 of a rectangular framework and a ninth connecting piece 309 of the rectangular framework of the multi-rotation-joint space solar power station.
-the vibration detection structure comprises: the three sets of identical binocular vision units and the computer, the three sets of binocular vision units comprise a first binocular vision unit 4, a second binocular vision unit 5 and a third binocular vision unit 6, the three sets of identical binocular vision units respectively collect vibration images of two solar panel arrays and microwave transmitting antennas, each set of binocular vision unit further comprises two high-speed cameras 401, two bidirectional hydraulic cloud platforms 402, two sets of linear guide rails 403 and a vision platform support frame 404 which is formed by a plurality of aluminum profiles with lengths of 2500mm, 1100mm and 470mm respectively, the starting and the closing of the high-speed cameras 401 are uniformly controlled by level signals sent by the computer 11, the images collected by the high-speed cameras are firstly stored in a memory card in the camera in the vibration detection process, and the images are transmitted to the computer for processing after the image collection is completed.
In this embodiment, each solar panel is supported by two independent rotary joints, each rotary joint further includes a conductive slip ring 3301, a mounting end cover plate 3302, and a speed reduction stepping motor 3303, the computer 11 sends out a pulse control signal of the motor, and the pulse signal is amplified to a suitable voltage through the motor driving plate 12 to drive the speed reduction stepping motor 3304 to rotate, so that different working postures of the angle simulators between the solar panel and the microwave transmitting antenna and the horizontal plane are changed.
The motors in the two rotary joints drive a solar panel to rotate together so as to change the included angle between the sunlight receiving surface and the horizontal plane, and the included angle change range is as follows: and 0-360 degrees, a plurality of circular marks 310 are stuck on the surface of each solar panel and are used for image recognition and model reconstruction in the vibration detection process.
The back of the microwave transmitting antenna 305 is a circular carbon fiber plate, the working surface is an antenna array formed by a plurality of 100mm rectangular antennas, the antennas are arranged in the middle of the lower part of the rectangular framework, and the antennas are driven by motors in four rotary joints to rotate around the axis of a lower cross rod of the rectangular framework, so that the included angle between the working surface of the antennas and the horizontal plane is changed, and the included angle change range is as follows: -90 °.
The working process of the invention is as follows:
starting a computer, controlling each rotary joint to rotate, and enabling each solar panel and each microwave transmitting antenna to rotate to an initial position;
moving a slide block of the linear guide rail to enable the high-speed camera to be at a proper horizontal position, adjusting a hydraulic cradle head to control the pitching angle of the high-speed camera, enabling the detected solar panel array and the microwave transmitting antenna to be in a camera view field of a corresponding binocular vision detection system, completing three-dimensional calibration of each group of binocular vision systems, setting the image acquisition speed of all the high-speed cameras to be uniform frame rate, and setting the starting mode of the high-speed camera to be the triggering and starting of a computer electric signal;
the signal generator generates a signal with a certain frequency, the signal is amplified to a proper voltage by the power amplifier to drive the two vibration exciters to generate vibration, the vibration exciters transmit vibration excitation to the multi-rotary joint solar power station through the output ejector rod, the computer sends out a camera starting signal, the three groups of binocular vision units start to work simultaneously, and vibration images of a structure to be measured are continuously collected according to a set frame rate;
the computer sends out a motor control signal, and the motor control signal is amplified by the motor driving plate to drive the motor in the rotary joint to rotate, so that the included angle between the sunlight receiving surface of the solar panel and the working surface of the microwave transmitting antenna and the horizontal plane is changed, and vibration images under different attitude angles are acquired;
and transmitting the image information in the high-speed camera into a computer for carrying out mark point coordinate extraction, contour edge line identification, coordinate conversion and view reconstruction, and finally obtaining the vibration information of the whole multi-rotary joint solar power station structure.
The multi-rotary joint space solar power station is fixed on the gesture fixed suspension so as to keep the space form of the multi-rotary joint space solar power station, the vibration excitation structure comprises two vibration exciters, the two vibration exciters are respectively connected with the multi-rotary joint space solar power station and used for exciting the multi-rotary joint space solar power station to generate vibration, and the vibration detection structure comprises three groups of binocular vision units and is used for detecting a solar panel array and an antenna marking point of the multi-rotary joint solar power station so as to obtain vibration information of the structure. The invention adopts the method of suspending and fixing the solar power station with multiple rotary joint spaces, uses a plurality of groups of vision detection systems to synchronously detect different components of the solar power station with multiple rotary joint spaces, has the advantage of non-contact, does not need to split each component of the structure, and is more beneficial to researching the integral vibration characteristics of the large-scale structure.
The broken line in fig. 1 indicates the connection relationship between the respective devices, and the arrow direction indicates the transmission direction of the signal flow.
In this embodiment, the materials, dimensions, and other parameters of the 12 solar panels are completely the same, and the dimensions are as follows: 600 mm. Times.300 mm. Times.2 mm, the density of the epoxy resin is 1.84g/cm 3 Poisson's ratio of 0.38, elastic modulus of E p =34.64 Gpa; each plate is stuck with 21 round mark points, and the material of the mark points is commonA4 paper.
The rear mounting plate of the microwave transmitting antenna 305 is a circular CFRP plate with a diameter of 1000mm and a density of 1.6g/cm 3 The method comprises the steps of carrying out a first treatment on the surface of the The 32 round mark points are stuck on the surface, and the mark points are made of common A4 paper; the front of the antenna is provided with 80 array plates, the size of the single array plate is 100mm multiplied by 2mm, the single array plate is made of aluminum alloy, the elastic modulus is 70GPa, the Poisson ratio is 0.3, and the density is 2.71g/cm 3 。
The conducting slip ring adopts the Senprene H2042 series, the specific model is H2042-12S-C, 12 paths of signals can be simultaneously transmitted, the maximum current of a single path of signals can be 2A, the slip ring rotor can rotate at 360 degrees, the maximum supported rotating speed is up to 250r/pm, the shell is made of aluminum alloy, and the rotating torque is lower than 0.1 N.m.
The model of the decelerating stepping motor is 35BY48HJ30, and the manufacturer is Changzhou Baolai electric appliance Co. The inherent step angle of the stepping motor is 7.5 degrees, and the reduction ratio is 1:30, i.e. the adjustment accuracy of the attitude angle is 0.25 degrees, the motor operating voltage is 12V, the starting torque is 30N cm, the positioning torque is 9N cm, and the deceleration stepping motor is fixed on the end cover plate through bolts.
The motor driving board adopts BL-220M stepping motor driver produced by Changzhou Baolai electric appliance limited company, the working voltage is DC12-32V, the driving current is 0.1-2A continuously adjustable, the driving mode is constant current chopping signal driving, and the driver can set 8 subdivision numbers.
The vibration exciter adopts an MS series modal vibration exciter produced by Yingmai measuring and controlling technology limited company in Yangzhou, the specific model is MS-200, the maximum exciting force of a single vibration exciter is 200N, the maximum amplitude is +/-10 mm, the exciting frequency range is 0-4 kHz, and the vibration exciter outputs vibration in a push rod mode, and has the advantages of small volume, light weight, wide frequency range, high reliability and the like; the vibration exciter mounting table consists of a section bar, angle steel, a mounting plate and a plurality of bolts, and the overall size is 330mm multiplied by 370mm.
The model of the signal generator is YMC9200 digital signal generator, the manufacturer is Yingmai measuring and controlling technology Co., ltd, and the model signal generator can generate any two paths of waveform signals according to requirements, and the frequency range is that: 0-30 kHz, DA conversion rate up to 500kHz, output signal amplitude: 10Vp.
The power amplifier is selected from a power amplifier with model number YE5874A produced by Jiangsu energy electronic technology Co, rated output power is 800W, frequency range is 0-10 kHz, and nonlinear distortion is less than 1%.
The model of the high-speed camera is NAC Memrecam HX-7s, the maximum resolution reaches 2560 multiplied by 1920 pixels, a CMOS image sensor is adopted, the shooting speed under the high-definition resolution reaches 2000fps, the highest speed can reach 21000fps, a 32G memory card is arranged in the high-speed camera, and the high-speed camera has multiple recording modes such as pulse triggering, multiple triggering, restarting triggering, image triggering and the like, and the whole machine weight is 2.9kg.
The cradle head for installing the camera is a strapdown bidirectional hydraulic cradle head, and is made of aluminum alloy, and has the maximum bearing weight of 4kg and the front-back pitching angle of: +90°/-60 °, both pan and tilt damping using a fixed hydraulic bin.
The model of the linear guide rail is C5HWZ20-L400-X1-E20-E20, and the length of the guide rail is 400mm.
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 (8)
1. The vibration detection device of the multi-rotary joint space solar power station is characterized by comprising a multi-rotary joint space solar power station structure, an attitude fixing suspension structure, a vibration excitation structure and a vibration detection structure;
the multi-rotary joint space solar power station structure comprises a rectangular framework, a microwave transmitting antenna and two solar panel arrays with the same structure, wherein the two solar panel arrays are symmetrically connected to the rectangular framework through rotary joints, each solar panel array comprises N solar panels, adjacent solar panels are connected through rotary joints, the initial angle between the receiving surface of each solar panel and the horizontal plane is 0 degree, and the microwave transmitting antenna is arranged right below the rectangular framework;
the attitude-fixing suspension structure comprises a plurality of rectangular frames, the top edges of adjacent rectangular frames are connected through an upper beam, the bottom edges of adjacent rectangular frames are connected through a lower beam, and the multi-rotary-joint space solar power station structure is respectively connected with the upper beam and the lower beam through suspension ropes; the microwave transmitting antenna is fixed on the rectangular frame through a rotary joint, and the computer is connected with the rotary joint through a motor driving plate to change the included angles of the microwave transmitting antenna and the solar panel with the horizontal plane;
the vibration excitation structure comprises a signal generator, a power amplifier, a first vibration exciter and a second vibration exciter, wherein the signal generator is subjected to power amplification through the power amplifier and drives the first vibration exciter and the second vibration exciter to generate synchronous vibration, and the vibration of the multi-rotary-joint space solar power station structure is realized through an output ejector rod;
the vibration detection structure includes: the system comprises three sets of identical binocular vision units, wherein the three sets of identical binocular vision units respectively collect vibration images of two solar panel arrays and microwave transmitting antennas, and each binocular vision unit comprises two high-speed cameras which are connected with a computer;
each rotary joint comprises a conductive slip ring, a mounting end cover plate and a deceleration stepping motor, the computer sends out pulse control signals of the deceleration stepping motor, and the pulse signals are amplified to proper voltage through the motor driving plate to drive the deceleration stepping motor to rotate, so that different working postures of the solar panel, the included angle simulator between the microwave transmitting antenna and the horizontal plane are changed;
the deceleration stepper motors in the two rotary joints drive a solar panel to rotate together so as to change the included angle between the sunlight receiving surface and the horizontal plane, and the included angle change range is as follows: 0-360 degrees, wherein a plurality of circular marks are stuck on the surface of each solar panel and are used for image recognition and model reconstruction in the vibration detection process;
the attitude-fixed suspension structure comprises four rectangular frames, six cross beams and nine suspension ropes, wherein the four rectangular frames are vertically arranged at equal intervals, the distance between every two adjacent rectangular frames is 2000mm, the top edges of the adjacent rectangular frames are connected through an upper cross beam, the bottom edges of the adjacent rectangular frames are connected through a lower cross beam, the ground clearance of the lower cross beam is 100mm, the nine suspension ropes are distributed in an upper mode and a lower mode, one ends of the suspension ropes are connected to the cross beams, the other ends of the suspension ropes are connected to the multi-rotary-joint space solar power station structure, and the ropes are made of low-elasticity steel wire ropes.
2. The vibration detecting device for a multi-rotary joint space solar power station according to claim 1, wherein the solar panel array is composed of six solar panels, and rotary joints are arranged at the upper and lower ends of each solar panel.
3. The vibration detection device of a multi-rotational joint space solar power station according to claim 1, wherein circular mark points are stuck on the surface of the solar panel.
4. The vibration detection device of the multi-rotary joint space solar power station according to claim 1, wherein the back surface of the microwave transmitting antenna is a circular carbon fiber plate, a circular mark point is stuck on the back surface of the microwave transmitting antenna, the front surface of the microwave transmitting antenna is a working surface, and the working surface is provided with an antenna array formed by a plurality of rectangular antennas.
5. The vibration detection device of the multi-rotation-joint space solar power station according to claim 1, wherein the binocular vision unit further comprises two bidirectional hydraulic holders, two linear guide rails and a support frame, the linear guide rails are arranged on the support frame, and the two high-speed cameras slide on the linear guide rails through the bidirectional hydraulic holders respectively.
6. The vibration detecting apparatus of a multiple rotational joint space solar power station according to claim 1, wherein the number of the suspension ropes is nine, and the suspension ropes are in a tight and vertical state.
7. The vibration detection device of a multiple rotary joint space solar power station according to claim 1, wherein the first vibration exciter and the second vibration exciter are connected with a rectangular framework.
8. A method of vibration detection apparatus based on a multi-rotational joint space solar power station according to any one of claims 1-7, characterized by the steps of:
starting a computer, controlling each rotary joint to rotate, and enabling each solar panel and each microwave transmitting antenna to rotate to an initial position;
the high-speed camera finishes three-dimensional calibration, the object to be detected is in the visual field range of the high-speed camera, and the starting mode of the high-speed camera is set as the triggering starting of the computer signal;
the signal generator generates a signal, the signal is amplified to a proper voltage by the power amplifier to drive the first vibration exciter and the second vibration exciter to generate vibration, the first vibration exciter and the second vibration exciter transmit vibration excitation to the multi-rotary joint solar power station through the output ejector rod, the computer sends out a high-speed camera starting signal, the three groups of binocular vision units start to work simultaneously, and structural vibration images are continuously acquired according to a set frame rate;
the computer controls the rotation of a deceleration stepping motor in the rotary joint, changes the included angle between the sunlight receiving surface of the solar panel and the working surface of the microwave transmitting antenna and the horizontal plane, and collects images under different included angles;
and transmitting the image information in the high-speed camera into a computer for carrying out mark point coordinate extraction, contour edge line identification, coordinate conversion and view reconstruction, and finally obtaining the vibration information of the whole multi-rotation joint space solar power station structure.
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