CN113340403B - Rotating shaft radial vibration measuring method based on circumferential stripes and linear array camera - Google Patents
Rotating shaft radial vibration measuring method based on circumferential stripes and linear array camera Download PDFInfo
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- CN113340403B CN113340403B CN202110598393.0A CN202110598393A CN113340403B CN 113340403 B CN113340403 B CN 113340403B CN 202110598393 A CN202110598393 A CN 202110598393A CN 113340403 B CN113340403 B CN 113340403B
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- 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
Abstract
The invention relates to a rotating shaft radial vibration measuring system and method based on circumferential stripes and a linear array camera, wherein the method comprises the following steps: s1, determining circumferential stripe parameters according to the target rotating shaft to be detected; s2, attaching the circumferential stripes to the rotating shaft to be uniformly distributed along the circumference of the rotating shaft; s3, fixing the linear array camera, and adjusting parameters; s4, imaging the circumferential stripes on the rotating shaft by the linear array camera; s5, processing each frame of image collected by the linear array camera, and calculating a frequency curve of the fringe signal at the t moment by a short-time Fourier transform principle and an energy center-of-gravity correction method; s6, obtaining a vibration time domain curve of the rotating shaft along the direction of the imaging optical axis through the relation that the peak value and the frequency value of the frequency curve change along with time; and S7, obtaining a vibration time domain curve of the rotating shaft along the direction vertical to the imaging optical axis through the time variation relation of the position of the peak frequency of the frequency curve. The system and the method can carry out rapid and high-precision non-contact measurement on the radial vibration displacement of the rotating shaft structure.
Description
Technical Field
The invention belongs to the technical field of visual vibration measurement, and particularly relates to a rotating shaft radial vibration measurement system and method based on circumferential stripes and a linear array camera.
Background
The rotating shaft structure is an important component of various devices, and whether the rotating shaft structure is healthy or not directly relates to the economic benefit of industrial production and manufacturing. Therefore, the method is important for health monitoring and fault diagnosis of the rotating shaft structure.
The vibration measurement of traditional pivot is mostly the measuring method of contact, is not suitable for various occasions, and structural clearance in the equipment is little if, will lead to check out test set can't accomplish correct installation, simultaneously, because the installation of contact, can have additional mass load to the structure of measuring, has certain influence to the precision of measuring, especially when measuring the micro-structure, can cause very big relative error. However, since a non-contact sensor, such as an eddy current sensor, has certain requirements on the material and size of a target structure to be measured, it has several limitations. Although the optical measurement method can realize non-contact high-precision measurement, the universality of the measurement method is not high because the difficulty of light path adjustment is high, the influence of environmental illumination is easily caused, and meanwhile, the price of optical detection equipment is high.
With the development of computer technology, in recent years, a great deal of attention has been paid to a non-contact measurement method based on computer vision. However, most monocular vision measurement systems cannot complete two-dimensional radial vibration measurement of the rotating shaft, and some systems that can be realized are complex, or have high requirements for installation and calibration of equipment, and the actual engineering measurement is complex to realize.
Aiming at the problem that the conventional detection means is difficult to simply and quickly realize high-precision vibration detection on a rotating shaft structure under the non-contact condition, a novel rotating shaft vibration measurement system is designed, and the significance of realizing accurate, simple and efficient non-contact nondestructive detection on the rotating shaft vibration is great.
Disclosure of Invention
The invention aims to provide a rotating shaft radial vibration measurement system and method based on circumferential stripes and a linear array camera, which can be used for quickly and accurately measuring the radial vibration displacement of a rotating shaft structure in a non-contact manner.
In order to achieve the purpose, the invention adopts the technical scheme that: a rotating shaft radial vibration measuring system based on circumferential stripes and a linear array camera comprises:
the rotating shaft system is used for installing a rotating shaft of a target to be detected and driving the rotating shaft to rotate, and circumferential stripes are arranged on the rotating shaft of the target to be detected and used for representing the radial vibration displacement information of the rotating shaft;
the linear array camera is used for continuously acquiring circumferential stripes on the target rotating shaft to be detected and transmitting the acquired stripe image information with vibration information to a computer; and
and the computer is used for controlling the linear array camera to work and storing and processing the stripe image information transmitted to the computer.
Furthermore, the circumferential stripes are uniformly distributed along the circumference of the rotating shaft of the target to be detected, the width direction of the stripes is the same as the axial direction of the rotating shaft, and the width of the stripes is set according to the size of the rotating shaft of the target to be detected.
Furthermore, an imaging optical axis of the linear array camera and an axis of a rotating shaft of a target to be measured are kept on the same spatial plane, the linear array sensor is ensured to be perpendicular to the axis, and sampling frequency and exposure time of the linear array camera are adjusted according to an actual measurement environment.
Further, image processing software is installed in the computer and used for storing and processing the acquired stripe image data.
The invention also provides a rotating shaft radial vibration measuring method based on the system, which comprises the following steps:
step S1: determining circumferential stripe parameters including the length, width and density of circumferential stripes according to a target rotating shaft to be detected;
step S2: attaching the circumferential stripes to a rotating shaft of a target to be detected, and ensuring that the circumferential stripes are uniformly distributed in the circumferential direction of the rotating shaft;
step S3: fixing the position of the linear array camera by using a support, starting a camera control module in a computer, and adjusting relevant parameters including sampling frequency and exposure time;
step S4: controlling a linear array camera to image circumferential stripes on a rotating shaft of a target to be detected, and transmitting acquired stripe image information to a computer;
step S5: the computer adopts image processing software to process each frame of image collected by the linear array camera, and calculates the frequency change curve of the stripe signal at the t moment by a short-time Fourier transform principle and an energy center-of-gravity correction method;
step S6: obtaining a vibration time domain curve of the rotating shaft along the direction of the imaging optical axis through the relation that the peak value frequency value of the frequency curve changes along with time;
step S7: and obtaining a vibration time domain curve of the rotating shaft along the direction vertical to the imaging optical axis through the time variation relation of the position of the peak frequency of the frequency curve.
Further, the short-time fourier transform principle is applied to the analysis of the relationship between the position and the frequency of the fringe signal at time t to obtain the frequency curve of the fringe signal at time t, and the analysis of the relationship between the position and the frequency is specifically as follows:
where STFT (N, f) is the frequency of the fringe signal at location N at time t, k is the length of the signal, f is the frequency, N represents the width of the window function, x (m) is the fringe signal at time t, and m is the location of the center of the window function w (N-m).
Further, the ratio of object distance and distance of the line camera imaging system is defined as an imaging scale factor M a ：
Wherein Z is the object distance, F is the distance, r is the radius of the target rotating shaft to be measured, p' 2 And p' 1 The coordinates of two ends of a section of stripe imaged when the rotating shaft is static are shown, and a is the size of a pixel point of the stripe image.
Further, the mathematical relation between the displacement of the target rotating shaft to be measured along the imaging optical axis direction and the peak frequency of the frequency curve is as follows:
where Δ x (t) is the vibration displacement of the rotating shaft along the imaging optical axis at time t, f is the focal length of the camera, d i (t) is the peak frequency of the fringe signal frequency curve at time t, d r Is the peak value of the frequency curve of the first frame stripe signalFrequency.
Further, the mathematical relation between the displacement of the target rotating shaft to be measured along the direction perpendicular to the imaging optical axis and the relative coordinate of the frequency curve peak frequency is as follows:
wherein, Δ y (t) is the vibration displacement of the rotating shaft along the direction vertical to the imaging optical axis at the time t; c i (t) is the relative coordinate where the peak frequency of the fringe signal is at time t; c r Is the relative coordinate where the fringe peak frequency is located at the reference location.
Compared with the prior art, the invention has the following beneficial effects:
1. the circumferential stripes and the linear array camera are innovatively combined, and high-speed and high-resolution acquisition of stripe patterns capable of reflecting the vibration information of the rotating shaft is realized on the basis of the characteristics of the linear array camera;
2. compared with the traditional rotating shaft vibration measurement method, the invention provides a high-precision non-contact nondestructive testing means, and compared with the traditional non-contact rotating shaft vibration measurement method, the invention provides a universal measuring means with simple and convenient measuring system and steps;
3. the measuring method is rapid, convenient, high in precision, high in universality and strong in practicability, and can realize high-precision measurement of radial two-dimensional vibration displacement of various target rotating shafts.
Drawings
Fig. 1 is a schematic system structure according to an embodiment of the present invention.
Fig. 2 is a fringe signal extracted from a certain frame in a two-dimensional image signal diagram acquired in the embodiment of the present invention.
Fig. 3 is a frequency variation curve of a frame signal according to an embodiment of the present invention.
FIG. 4 is a graph of peak frequency values and their locations over time in accordance with an embodiment of the present invention. Where (a) is the peak frequency value versus time and (b) is the peak frequency location versus time.
FIG. 5 is a graph of radial vibratory displacement of a rotating shaft over time in an embodiment of the present invention. Wherein (a) is a vibrational displacement of the rotary shaft in the direction of the imaging optical axis, and (b) is a vibrational displacement of the rotary shaft in the direction perpendicular to the imaging optical axis.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, the present embodiment provides a rotating shaft radial vibration measurement system based on circumferential stripes and a line camera, which includes a rotating shaft system, a line camera, and a computer.
The rotating shaft system is used for installing a rotating shaft of a target to be detected and driving the rotating shaft to rotate, and circumferential stripes are arranged on the rotating shaft of the target to be detected and used for representing the radial vibration displacement information of the rotating shaft. The rotating shaft of the target to be detected is arranged on the rotating shaft system and is driven to rotate by a servo motor on the rotating shaft system.
The linear array camera is connected with the computer and used for continuously collecting the circumferential stripes on the rotating shaft of the target to be detected and transmitting the collected stripe image information with vibration information to the computer.
The computer is used for controlling the linear array camera to work and storing and processing the stripe image information transmitted to the computer. And image processing software is installed in the computer and used for storing and processing the acquired stripe image data.
The circumferential stripes are uniformly distributed along the circumference of the rotating shaft of the target to be detected, the width direction of the stripes is the same as the axial direction of the rotating shaft, and the width of the stripes is set according to the size of the rotating shaft of the target to be detected.
The imaging optical axis of the linear array camera and the axis of the rotating shaft of the target to be measured are kept on the same spatial plane, the linear array sensor is ensured to be perpendicular to the axis, and the sampling frequency and the exposure time of the linear array camera are adjusted according to the actual measurement environment.
The embodiment also provides a rotating shaft radial vibration measuring method based on the system, which comprises the following steps:
step S1: determining circumferential stripe parameters including the length, width and density of circumferential stripes according to a target rotating shaft to be detected;
step S2: attaching the circumferential stripes to a rotating shaft of a target to be detected, and ensuring that the circumferential stripes are uniformly distributed in the circumferential direction of the rotating shaft;
step S3: fixing the position of the linear array camera by using a support, starting a camera control module in a computer, and adjusting relevant parameters including sampling frequency, exposure time and the like;
step S4: controlling a linear array camera to image circumferential stripes on a rotating shaft of a target to be detected, and transmitting acquired stripe image information to a computer;
step S5: the computer adopts image processing software to process each frame of image collected by the linear array camera, and calculates the frequency change curve of the stripe signal at the t moment by a short-time Fourier transform principle and an energy center-of-gravity correction method;
step S6: obtaining a vibration time domain curve of the rotating shaft along the direction of the imaging optical axis through the relation that the peak value frequency value of the frequency curve changes along with time;
step S7: and obtaining a vibration time domain curve of the rotating shaft along the direction vertical to the imaging optical axis through the time variation relation of the position of the peak frequency of the frequency curve.
In the embodiment, the diameter of the rotor of the rotating shaft is preset to be 40 mm; the fringe periodicity is 150; the initial object distance between the camera and the rotating shaft is 290 mm; the vibration displacement along the imaging optical axis direction (X direction) and perpendicular to the imaging optical axis direction (Y direction) are set to be sinusoidal changes: the amplitude is 0.5mm, and the frequency is 6 Hz; the frame rate of the camera is 1000 Hz; the fringe signal at time t is collected as shown in fig. 2.
As shown in fig. 3, the frequency curve of the fringes at time t can be obtained by calculation through short-time fourier transform and energy centroid correction. The peak frequency of the frequency curve and its position over time are shown in fig. 4(a) and 4 (b).
The obtaining of the fringe signal frequency curve is to apply the short-time Fourier transform principle to the relation analysis of the position and the frequency of the fringe signal at the time t to obtain the frequency curve of the fringe signal at the time t, and the relation analysis of the position and the frequency is as follows:
where STFT (N, f) is the frequency of the fringe signal at location N at time t, k is the length of the signal, f is the frequency, N represents the width of the window function, x (m) is the fringe signal at time t, and m is the location of the center of the window function w (N-m).
The ratio of object distance and distance of the linear array camera imaging system is defined as an imaging scale factor M a ：
Wherein Z is the object distance, F is the distance, r is the radius of the target rotating shaft to be measured, p' 2 And p' 1 The coordinates of two ends of a section of stripe imaged when the rotating shaft is static are shown, and a is the size of a pixel point of the stripe image.
The mathematical relation between the displacement of the target rotating shaft to be measured along the direction of the imaging optical axis and the peak frequency of the frequency curve is as follows:
where Δ x (t) is the vibration displacement of the rotating shaft along the imaging optical axis at time t, f is the focal length of the camera, d i (t) is the peak frequency of the fringe signal frequency curve at time t, d r The peak frequency of the frequency curve of the first frame stripe signal.
The mathematical relation between the displacement of the target rotating shaft to be measured along the direction vertical to the imaging optical axis and the relative coordinate of the frequency curve peak frequency is as follows:
wherein, Δ y (t) is the rotating shaft edge at time tA vibration displacement in a direction perpendicular to an imaging optical axis; c i (t) is the relative coordinate where the peak frequency of the fringe signal is at time t; c r Is the relative coordinate where the fringe peak frequency is located at the reference location.
As can be seen from fig. 5(a) and 5(b), the radial vibration displacement change of the rotating shaft can be accurately determined from the mathematical relationship between the peak frequency of the fringe signal and the position thereof and the radial vibration displacement of the rotating shaft.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (4)
1. A rotating shaft radial vibration measuring method based on circumferential stripes and a linear array camera is characterized in that a rotating shaft radial vibration measuring system based on the circumferential stripes and the linear array camera is used, and comprises the following steps:
the rotating shaft system is used for installing a rotating shaft of a target to be detected and driving the rotating shaft to rotate, and circumferential stripes are arranged on the rotating shaft of the target to be detected and used for representing the radial vibration displacement information of the rotating shaft;
the linear array camera is used for continuously acquiring circumferential stripes on the target rotating shaft to be detected and transmitting the acquired stripe image information with vibration information to a computer; and
the computer is used for controlling the linear array camera to work and storing and processing the stripe image information transmitted to the computer;
the method for measuring the radial vibration of the rotating shaft comprises the following steps:
step S1: determining circumferential stripe parameters including the length, width and density of circumferential stripes according to a target rotating shaft to be detected;
step S2: attaching the circumferential stripes to a rotating shaft of a target to be detected, and ensuring that the circumferential stripes are uniformly distributed in the circumferential direction of the rotating shaft;
step S3: fixing the position of the linear array camera by using a support, starting a camera control module in a computer, and adjusting relevant parameters including sampling frequency and exposure time;
step S4: controlling a linear array camera to image circumferential stripes on a rotating shaft of a target to be detected, and transmitting acquired stripe image information to a computer;
step S5: the computer adopts image processing software to process each frame of image collected by the linear array camera, and calculates the frequency curve of the stripe signal at the t moment by a short-time Fourier transform principle and an energy gravity correction method;
step S6: obtaining a vibration time domain curve of the rotating shaft along the direction of the imaging optical axis through the relation that the peak value frequency value of the frequency curve changes along with time;
step S7: obtaining a vibration time domain curve of the rotating shaft along the direction vertical to the imaging optical axis through the relation that the position of the peak frequency of the frequency curve changes along with time;
the short-time Fourier transform principle is applied to the relation analysis of the position and the frequency of the fringe signal at the time t to obtain a frequency curve of the fringe signal at the time t, and the relation analysis of the position and the frequency is as follows:
wherein STFT (N, f) is the frequency of the fringe signal at the position N at time t, k is the length of the signal, f is the frequency, N represents the width of the window function, x (m) is the fringe signal at time t, and m is the position of the center of the window function w (N-m);
the ratio of object distance and distance of the linear array camera imaging system is defined as an imaging scale factor M a ：
Wherein Z is the object distance, F is the distance, r is the radius of the target rotating shaft to be measured, p' 2 And p' 1 Coordinates of two ends of a section of stripe imaged when the rotating shaft is static are shown, and a is the size of a pixel point of the stripe image;
the mathematical relation between the displacement of the target rotating shaft to be measured along the direction of the imaging optical axis and the peak frequency of the frequency curve is as follows:
where Δ x (t) is the vibration displacement of the rotating shaft along the imaging optical axis at time t, f is the focal length of the camera, d i (t) is the peak frequency of the fringe signal frequency curve at time t, d r The peak frequency of the frequency curve of the first frame stripe signal;
the mathematical relation between the displacement of the target rotating shaft to be detected along the direction vertical to the imaging optical axis and the relative coordinate of the frequency curve peak frequency is as follows:
wherein, Δ y (t) is the vibration displacement of the rotating shaft along the direction vertical to the imaging optical axis at the time t; c i (t) is the relative coordinate where the peak frequency of the fringe signal is at time t; c r Is the relative coordinate where the fringe peak frequency is located at the reference location.
2. The method for measuring the radial vibration of the rotating shaft based on the circumferential stripes and the line camera as claimed in claim 1, wherein the circumferential stripes are uniformly distributed along the circumference of the rotating shaft of the target to be measured, the width direction of the stripes is the same as the axial direction of the rotating shaft, and the width of the stripes is set according to the size of the rotating shaft of the target to be measured.
3. The method for measuring the radial vibration of a rotating shaft based on circumferential stripes and a line camera as claimed in claim 1, wherein the imaging optical axis of the line camera and the axis of the rotating shaft of the target to be measured are maintained on the same spatial plane, and the line sensor is ensured to be perpendicular to the axis, and the sampling frequency and the exposure time of the line camera are adjusted according to the actual measuring environment.
4. The method for measuring the radial vibration of the rotating shaft based on the circumferential stripe and line camera as claimed in claim 1, wherein the computer is installed with image processing software for storing and processing the acquired stripe image data.
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| EP2375227A1 (en) * | 2010-04-09 | 2011-10-12 | Siemens Aktiengesellschaft | Measurement of three-dimensional motion characteristics |
| CN109357621A (en) * | 2018-12-10 | 2019-02-19 | 福州大学 | Three-dimensional vibrating displacement measuring device and method based on line-scan digital camera and position sense striped |
| CN112683382A (en) * | 2020-12-31 | 2021-04-20 | 福州大学 | Structure three-dimensional vibration measurement system and method based on monocular vision |
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| CA2324572A1 (en) * | 2000-10-26 | 2002-04-26 | Gerry M. Kane | Digital vibration transducer |
| US6948381B1 (en) * | 2002-04-09 | 2005-09-27 | Rockwell Automation Technologies, Inc. | System and method for sensing torque on a rotating shaft |
| CN104614064B (en) * | 2015-02-13 | 2018-01-12 | 福州大学 | A kind of high-speed multi-dimension degree vibration measurement device and method based on striped target |
| EP3179440B1 (en) * | 2015-12-10 | 2018-07-11 | Airbus Defence and Space | Modular device for high-speed video vibration analysis |
| CN106443046B (en) * | 2016-11-23 | 2023-04-07 | 福州大学 | Rotating shaft rotating speed measuring device and method based on variable-density sine stripes |
| CN107271025B (en) * | 2017-06-20 | 2023-04-11 | 福州大学 | Device and method for synchronously measuring three-dimensional vibration of rotating shaft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2375227A1 (en) * | 2010-04-09 | 2011-10-12 | Siemens Aktiengesellschaft | Measurement of three-dimensional motion characteristics |
| CN109357621A (en) * | 2018-12-10 | 2019-02-19 | 福州大学 | Three-dimensional vibrating displacement measuring device and method based on line-scan digital camera and position sense striped |
| CN112683382A (en) * | 2020-12-31 | 2021-04-20 | 福州大学 | Structure three-dimensional vibration measurement system and method based on monocular vision |
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