CN112325768B - Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement - Google Patents

Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement Download PDF

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CN112325768B
CN112325768B CN202011112312.3A CN202011112312A CN112325768B CN 112325768 B CN112325768 B CN 112325768B CN 202011112312 A CN202011112312 A CN 202011112312A CN 112325768 B CN112325768 B CN 112325768B
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servomotor
installation
piston rod
coordinate system
measuring
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CN112325768A (en
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郭光文
吴光富
江小兵
刘宇鉴
程志华
卫书满
邱章云
曹国华
曹廷根
姚应盖
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China Gezhouba Group Survey & Design Institute Co ltd
China Gezhouba Group Co Ltd
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Gezhouba Surveying And Mapping Geographic Information Technology Co ltd
China Gezhouba Group Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/02Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness

Abstract

A method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement adopts a three-dimensional laser tracking measurement technology, firstly, the circumferences of two earring holes on a control ring are precisely measured, the circle center coordinates of the earring holes are obtained by adopting a circumference fitting method, and a set installation coordinate system is established. On the basis, the center coordinates and the elevations of the cylinder of the servomotor piston rod and the pin hole at the end part of the cylinder of the servomotor piston rod are measured under the two states of complete extension and complete retraction respectively, and finally, the direction and the elevation of the servomotor piston rod are calculated in a unit installation coordinate system, and the span between the left servomotor and the right servomotor is calculated. The invention overcomes the complex steps in the traditional measuring method adopted by the original servomotor installation, and has the characteristics of improving the measuring precision and reliability and improving the working efficiency.

Description

Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement
Technical Field
The invention belongs to the technical field of mounting of a servomotor of a water turbine generator set, and relates to a precise measurement method for mounting of the servomotor of the water turbine generator set based on laser tracking measurement.
Background
For the installation of the servomotor of the water turbine generator set, the current universal measuring method firstly stretches a transverse piano wire above the designed position of the servomotor along the axis direction of the servomotor, then hangs a weight line on the transverse piano wire, and adopts an electric method to detect the plane installation position and direction of the servomotor; and a precise level gauge is adopted to detect the mounting elevation and level of the servomotor. The measuring method has low precision and reliability, low working efficiency and great influence on installation precision of the joint jack and construction period.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for precisely measuring the installation of the servomotor of the hydroelectric generating set based on laser tracking measurement.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement comprises the following steps:
step 1, measuring the circumference and the elevation of an ear ring hole of a control ring which is installed in place;
step 2, obtaining the circle center coordinate of the control ring ear ring hole by adopting a circumference fitting method, and establishing an installation coordinate system;
step 3, measuring the circumference and the elevation of the servomotor piston rod cylinder and the servomotor piston rod pin hole at the end part of the servomotor under the two states of complete extension and complete retraction in the installation coordinate system, and obtaining the circle center coordinate of the servomotor piston rod cylinder and the servomotor piston rod cylinder by adopting a circumference fitting method;
and 4, analyzing and calculating to obtain the servomotor installation space position and attitude parameters.
In the step 1: a laser tracker is erected on a control ring between a left servomotor and a right servomotor, the circumference of an ear ring hole of the control ring is measured, the circle center coordinate of the control ring is obtained by adopting a circumference fitting method, and the elevation of the upper surface of the ear ring hole of the control ring is measured.
In the step 2: establishing an installation coordinate system taking the central line of the unit as a reference by adopting a coordinate orthomorphism transformation method; the coordinate orthomorphism transformation is provided with seven transformation parameters which comprise three translation parameters, three rotation parameters and a scale factor, and the transformation equation is as follows:
Figure 955776DEST_PATH_IMAGE001
wherein, for the measurement of the laser tracker, the scale factor S =1 of the coordinate transformation, and in the unit installation coordinate system O-XYZ, the three translation parameters are the origin coordinate of the coordinate system of the measuring station
Figure 114356DEST_PATH_IMAGE002
The three rotation parameters are rotation angles of the coordinate system of the measuring station around the coordinate axis of the coordinate system in sequence and are set around the coordinate system
Figure 671240DEST_PATH_IMAGE003
The rotation angle of the shaft is in turn
Figure 531748DEST_PATH_IMAGE004
Then, the rotation matrix:
Figure 199490DEST_PATH_IMAGE005
in the step 3: the servomotor piston rod is completely extended out, a cylinder of the servomotor piston rod is measured by a laser tracker, and the circumference of a servomotor end pin hole and the elevation of the upper surface of the servomotor end pin hole are measured; and then, completely retracting the servomotor piston rod, and measuring the circumference of the servomotor end pin hole and the elevation of the upper surface of the servomotor end pin hole again.
In the step 4:
a, acquiring a spatial three-dimensional position and posture of a servomotor when a piston rod of the servomotor is completely extended by adopting a cylinder fitting method, and judging the installation linearity and the horizontality of the servomotor, and the parallelism and the distance of a left servomotor and a right servomotor;
b, obtaining the center coordinates of the pin holes at the end parts of the servomotor by adopting a circumference fitting method, and judging the installation linearity of the servomotor, the parallelism and the distance of the left servomotor and the right servomotor in the same way; judging the levelness of the servomotor according to the actually measured elevations of the control ring ear ring hole and the servomotor end pin hole;
and c, checking the conclusions of the two steps mutually to ensure the reliability of the measurement result.
A method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement adopts a three-dimensional laser tracking measurement technology, firstly, the circumferences of two earring holes on a control ring are precisely measured, the circle center coordinates of the earring holes are obtained by adopting a circumference fitting method, and a set installation coordinate system is established. On the basis, the center coordinates and the elevations of the cylinder of the servomotor piston rod and the pin hole at the end part of the cylinder of the servomotor piston rod are measured under the two states of complete extension and complete retraction respectively, and finally, the direction and the elevation of the servomotor piston rod are calculated in a unit installation coordinate system, and the span between the left servomotor and the right servomotor is calculated. The invention overcomes the complex steps in the traditional measuring method adopted by the original servomotor installation, and has the characteristics of improving the measuring precision and reliability and improving the working efficiency.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic diagram of the orthomorphic transformation of coordinates according to the present invention.
In the figure: the servomotor comprises a control ring ear ring hole 1, a servomotor end pin hole 2, a servomotor piston rod 3 and a servomotor 4.
Detailed Description
As shown in fig. 1-2, a method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement comprises the following steps:
step 1, measuring the circumference and elevation of a control ring ear ring hole 1 which is installed in place;
step 2, obtaining the circle center coordinate of the control ring ear ring hole 1 by adopting a circumference fitting method, and establishing an installation coordinate system;
step 3, measuring the circumference and the elevation of the servomotor piston rod 3 cylinder and the servomotor piston rod 3 pin hole 2 at the end part of the force booster in the two states of complete extension and complete retraction in the installation coordinate system, and obtaining the center coordinates of the circle by adopting a circumference fitting method;
and 4, analyzing and calculating to obtain the servomotor installation space position and attitude parameters.
In the step 1: a laser tracker is erected on a control ring between the left servomotor 4 and the right servomotor 4, the circumference of the control ring ear ring hole 1 is measured, the circle center coordinate of the control ring ear ring hole is obtained by adopting a circumference fitting method, and the elevation of the upper surface of the control ring ear ring hole 1 is measured. The method aims to introduce a three-dimensional laser tracking measurement technology to replace a heavy hammer line electric measurement method, realize the accurate measurement of the servomotor installation reference, improve the establishment speed of the servomotor installation reference, greatly improve the measurement accuracy and reliability, and improve the operation efficiency.
In the step 2: establishing an installation coordinate system taking the central line of the unit as a reference by adopting a coordinate orthomorphism transformation method; the coordinate orthomorphism transformation is provided with seven transformation parameters which comprise three translation parameters, three rotation parameters and a scale factor, and the transformation equation is as follows:
Figure 412909DEST_PATH_IMAGE006
wherein, for the measurement of the laser tracker, the scale factor S =1 of the coordinate transformation, and in the unit installation coordinate system O-XYZ, the three translation parameters are the origin coordinate of the coordinate system of the measuring station
Figure DEST_PATH_IMAGE007
The three rotation parameters are rotation angles of the coordinate system of the measuring station around the coordinate axis of the coordinate system in sequence and are set around the coordinate system
Figure 734169DEST_PATH_IMAGE008
The rotation angle of the shaft is in turn
Figure 832706DEST_PATH_IMAGE004
Then, the rotation matrix:
Figure DEST_PATH_IMAGE009
the method aims to directly and accurately measure the circumference of the control ring ear ring which is installed in place, obtain the coordinates of the circle center of the control ring ear ring by adopting a circumference fitting method, and then establish a unit installation coordinate system by adopting coordinate orthomorphism transformation, thereby avoiding the precision loss caused by reference transmission in the traditional measuring method; calculating and analyzing measurement data in a unified coordinate system, and quickly obtaining the position, the axis direction, the elevation and the horizontal parameters of the mounting plane of the servomotor; the transformation from a coordinate system of the measuring station to a unit installation coordinate system is realized by using a coordinate orthomorphism transformation method; the servomotor installation space position and attitude parameters are obtained through methods such as cylinder fitting and circumference fitting, so that the construction measurement workload is reduced, and the operation efficiency is improved.
In the step 3: the servomotor piston rod 3 is completely extended out, a laser tracker is adopted to measure the cylinder of the servomotor piston rod 3, and the circumference of the servomotor end pin hole 2 and the elevation of the upper surface of the servomotor end pin hole 2 are measured; then the servomotor piston rod 3 is completely retracted, and the circumference of the servomotor end pin hole 2 and the elevation of the upper surface of the servomotor end pin hole 2 are measured again.
In the step 4:
a, acquiring a spatial three-dimensional position and posture of the servomotor piston rod 3 when the servomotor piston rod is completely extended by adopting a cylinder fitting method, and judging the installation linearity and the horizontality of the servomotor 4 and the parallelism and the distance of the left and right servomotors 4;
b, obtaining the center coordinates of the servomotor end pin hole 2 by adopting a circumference fitting method, and judging the installation linearity of the servomotor 4, and the parallelism and distance of the left servomotor 4 and the right servomotor 4; judging the levelness of the servomotor 4 according to the actually measured elevations of the control ring ear ring hole 1 and the servomotor end pin hole 2;
and c, checking the conclusions of the two steps mutually to ensure the reliability of the measurement result.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.

Claims (2)

1. A method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement is characterized by comprising the following steps:
step 1, measuring the circumference and elevation of a control ring ear ring hole (1) which is installed in place;
in the step 1: erecting a laser tracker on a control ring between a left servomotor (4) and a right servomotor (4), measuring the circumference of a control ring ear ring hole (1), obtaining the coordinates of the circle center of the control ring ear ring hole by adopting a circumference fitting method, and measuring the elevation of the upper surface of the control ring ear ring hole (1);
step 2, obtaining the circle center coordinate of the control ring ear ring hole (1) by adopting a circumference fitting method, and establishing an installation coordinate system;
step 3, measuring the circumference and the elevation of the servomotor piston rod (3) cylinder and the servomotor piston rod (3) in two states of complete extension and complete retraction in the installation coordinate system, and obtaining the circle center coordinate of the servomotor piston rod by adopting a circumference fitting method;
in the step 3: the servomotor piston rod (3) is completely extended out, a laser tracker is adopted to measure the cylinder of the servomotor piston rod (3), and the circumference of the servomotor end pin hole (2) and the elevation of the upper surface of the servomotor end pin hole (2) are measured; then, completely retracting the servomotor piston rod (3), and measuring the circumference of the servomotor end pin hole (2) and the elevation of the upper surface of the servomotor end pin hole (2) again;
step 4, analyzing and calculating to obtain servomotor installation space position and attitude parameters;
in the step 4:
a, acquiring a spatial three-dimensional position and a spatial three-dimensional posture of a servomotor piston rod (3) when the servomotor is completely extended by adopting a cylinder fitting method, and judging the installation linearity and the horizontality of the servomotor (4) and the parallelism and the distance of the left servomotor (4) and the right servomotor (4);
b, obtaining the circle center coordinate of the servomotor end pin hole (2) by adopting a circumference fitting method, and judging the installation linearity of the servomotor (4) and the parallelism and distance of the left servomotor (4) and the right servomotor (4) in the same way; judging the levelness of the servomotor (4) according to the actually measured elevations of the control ring ear ring hole (1) and the servomotor end pin hole (2);
and c, checking the conclusions of the two steps mutually to ensure the reliability of the measurement result.
2. The method for precisely measuring the installation of the servomotor of the hydroelectric generating set based on laser tracking measurement according to claim 1, wherein in the step 2: establishing an installation coordinate system taking the central line of the unit as a reference by adopting a coordinate orthomorphism transformation method; the coordinate orthomorphism transformation is provided with seven transformation parameters which comprise three translation parameters, three rotation parameters and a scale factor, and the transformation equation is as follows:
Figure 267468DEST_PATH_IMAGE001
wherein, for the measurement of the laser tracker, the scale factor S =1 of the coordinate transformation, and in the unit installation coordinate system O-XYZ, the three translation parameters are the origin coordinate of the coordinate system of the measuring station
Figure DEST_PATH_IMAGE002
The three rotation parameters are rotation angles of the coordinate system of the measuring station around the coordinate axis of the coordinate system in sequence and are set around the coordinate system
Figure 512504DEST_PATH_IMAGE003
The rotation angle of the shaft is in turn
Figure DEST_PATH_IMAGE004
Then, the rotation matrix:
Figure DEST_PATH_IMAGE005
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CN210422882U (en) * 2019-08-16 2020-04-28 深圳市恩莱吉能源科技有限公司 Paddle adjuster and stroke detection device thereof

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