CN117010039B - Structure optimization method of rotary mirror base and related equipment thereof - Google Patents
Structure optimization method of rotary mirror base and related equipment thereof Download PDFInfo
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Abstract
The application relates to a structural optimization method of a rotating lens base and related equipment thereof. Wherein the method comprises the following steps: respectively carrying out dynamic balance experiments of the rotary mirror base for multiple times at different rotating speeds, and selecting a reliable dynamic balance experiment result according to the extreme differences of the dynamic balance experiment results at different rotating speeds; selecting characteristic parameters of the structure of the rotary mirror base, taking the distance between the gravity center of the rotary mirror base and a motor shaft for driving the rotary mirror base to rotate as a target value as an optimization target, optimizing the characteristic parameters of the structure of the rotary mirror base, and obtaining optimized characteristic parameters; generating an optimized structure model of the rotary mirror base based on the optimized characteristic parameters, carrying out dynamic balance simulation on the optimized structure model at the design rotating speed, and verifying the optimized result of the optimized structure model according to the reliable dynamic balance experimental result and the dynamic balance simulation result of the optimized structure model. According to the invention, the problems that the motor shaft is worn and the service life of the motor shaft is influenced due to the rotating mirror are solved, and the service life of the rotating mirror module is prolonged.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a structural optimization method of a rotating lens base and related equipment thereof.
Background
The lidar optical system employs a turning mirror module, also known as a scanner or scanning mirror, to control and change the direction and scanning range of the laser beam. The rotating mirror module of the laser radar optical system is usually composed of a rotating platform and one or several mirrors. The rotating platform may be controlled by a motor or other drive mechanism to rotate the turning mirror. The mirror is mounted on a rotating platform, and the angle and position of the mirror can be adjusted by the movement of the rotating platform. When the lidar is in operation, the laser beam is reflected onto a turning mirror, which then reflects the laser beam in a different direction. By controlling the rotational speed and angle of the turning mirror, the lidar may scan the entire surrounding environment or a specific area.
When the rotating mirror rotates, the rotating mirror base is in an unbalanced state at the moment due to uneven mass distribution of the rotating mirror and non-coincidence of the mass center of the rotating mirror and the rotating shaft, and the centrifugal force acts on a motor shaft, so that the motor shaft is worn and the service life of the motor shaft is influenced, and the laser radar is also caused to shake strongly in the use process, so that the normal work of the laser radar is influenced.
Aiming at the problems that a rotating mirror in the related art causes abrasion of a motor shaft and influences the service life of the motor shaft, no effective solution is proposed at present.
Disclosure of Invention
The structural optimization method of the rotating mirror base and the related equipment at least solve the problems that in the related technology, a motor shaft is worn due to the rotating mirror and the service life of the motor shaft is influenced.
A structure optimization method of a rotary lens base comprises the following steps:
respectively carrying out dynamic balance experiments of the rotary mirror base for multiple times at different rotating speeds, and selecting a reliable dynamic balance experiment result according to the extreme differences of the dynamic balance experiment results at different rotating speeds;
selecting characteristic parameters of the structure of the rotary lens seat, taking the distance between the gravity center of the rotary lens seat and a motor shaft for driving the rotary lens seat to rotate as an optimization target, optimizing the characteristic parameters of the structure of the rotary lens seat, and obtaining optimized characteristic parameters;
generating an optimized structure model of the rotary mirror base based on the optimized characteristic parameters, carrying out dynamic balance simulation on the optimized structure model at the design rotating speed, and verifying the optimized result of the optimized structure model according to the credible dynamic balance experimental result and the dynamic balance simulation result of the optimized structure model.
In some of these embodiments, verifying the optimization result of the optimization structure model from the trusted dynamic balance experiment result and the dynamic balance simulation result of the optimization structure model includes:
and comparing the credible dynamic balance experimental result with the dynamic balance simulation result of the optimized structure model to verify the optimized result of the optimized structure model.
In some of these embodiments, the method further comprises:
generating an initial structure model of the rotary lens base based on the initial characteristic parameters of the rotary lens base, and carrying out dynamic balance simulation on the initial structure model at a design rotating speed to obtain an initial dynamic balance simulation result;
and comparing the initial dynamic balance simulation result with the dynamic balance simulation result of the optimized structure model to verify the optimizing effect of the optimized structure model.
In some of these embodiments, the method further comprises:
calculating a first radial force of the rotating lens seat to the axis according to the dynamic unbalance measured by the dynamic balance experiment;
calculating a second radial force of the rotating mirror base on the axis according to allowable unbalance degree obtained by dynamic balance simulation on the initial structure model;
according to the dynamic balance simulation of the initial structure model, obtaining a third radial force of the rotating lens base on the axis;
and verifying the credibility of the initial dynamic balance simulation result based on the first radial force, the second radial force and the third radial force.
In some of these embodiments, the dynamic balance simulation results include: radial force and radial moment of the rotating mirror base to the axis.
In some of these embodiments, the selected characteristic parameters of the structure of the rotating mount include characteristic parameters that affect the center of mass and the rotational axis of the rotating mount.
In some embodiments, the selected characteristic parameters of the structure of the rotary lens base include at least one of the following:
the distance from the axle center to the mirror mounting surface of the rotating mirror base;
the width of the window is formed on the mirror mounting surface of the rotating mirror seat;
the motor outer rotor of the rotary mirror seat accommodates the height of the cavity;
and the motor outer rotor of the rotary mirror seat is arranged at the height of the installation space.
In some embodiments, taking a distance between a center of gravity of the rotary lens holder and a motor shaft driving the rotary lens holder to rotate as an optimization target, optimizing a characteristic parameter of a structure of the rotary lens holder, and obtaining the optimized characteristic parameter includes:
and (3) adopting a gradient-based optimization method, taking the distance between the gravity center of the rotary lens seat and a motor shaft for driving the rotary lens seat to rotate as an optimization target, and taking the selected characteristic parameters of the structure of the rotary lens seat as target variables to carry out iterative optimization until convergence conditions are reached, so as to obtain optimized characteristic parameters.
In some of these embodiments, the different rotational speeds include: lower than the design rotational speed, and higher than the design rotational speed.
In some embodiments thereof, the dynamic balance test results comprise: the amount of dynamic balance unbalance and/or the angle of dynamic balance unbalance.
In some embodiments, selecting the reliable dynamic balance test result according to the extreme differences of the dynamic balance test results at different rotation speeds includes:
and selecting a dynamic balance experiment result corresponding to the minimum value of the range value as the credible dynamic balance experiment result in dynamic balance experiments carried out at different rotating speeds.
A structural optimization system for a rotating mount, comprising: the experimental device, the optimizing device and the simulation device; wherein,
the experimental device is used for respectively carrying out dynamic balance experiments of the rotary lens base for a plurality of times at different rotating speeds, and selecting a reliable dynamic balance experimental result according to the extreme differences of the dynamic balance experimental results at different rotating speeds;
the optimizing device is used for selecting the characteristic parameters of the structure of the rotary mirror base, taking the distance between the gravity center of the rotary mirror base and a motor shaft for driving the rotary mirror base to rotate as a target value as an optimizing target, optimizing the characteristic parameters of the structure of the rotary mirror base, and obtaining optimized characteristic parameters;
the simulation device is used for generating an optimized structure model of the rotary mirror base based on the optimized characteristic parameters, carrying out dynamic balance simulation on the optimized structure model at the design rotating speed, and verifying the optimized result of the optimized structure model according to the reliable dynamic balance experimental result and the dynamic balance simulation result of the optimized structure model.
The rotary mirror seat is used for optimizing the characteristic parameters of the structure based on the structural optimization method of the rotary mirror seat.
In some of these embodiments, the swivel lens mount is a multi-faceted swivel lens mount having N mirror mounting planes, where N is greater than or equal to 3.
The laser radar optical system comprises a turning mirror module, an optical transmitting module and an optical receiving module, wherein the turning mirror module comprises the turning mirror seat.
According to the structural optimization method of the rotary mirror base and the related equipment, dynamic balance experiments of the rotary mirror base are respectively carried out for a plurality of times at different rotating speeds, and reliable dynamic balance experiment results are selected according to the extreme differences of the dynamic balance experiment results at different rotating speeds; selecting characteristic parameters of the structure of the rotary mirror base, taking the distance between the gravity center of the rotary mirror base and a motor shaft for driving the rotary mirror base to rotate as a target value as an optimization target, optimizing the characteristic parameters of the structure of the rotary mirror base, and obtaining optimized characteristic parameters; and generating an optimized structure model of the rotating mirror base based on the optimized characteristic parameters, carrying out dynamic balance simulation on the optimized structure model at the design rotating speed, and verifying the optimized result of the optimized structure model according to the reliable dynamic balance experimental result and the dynamic balance simulation result of the optimized structure model, thereby solving the problems that the rotating mirror causes abrasion of a motor shaft and affects the service life of the motor shaft, and prolonging the service life of the rotating mirror module.
The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the invention, from which other embodiments can be obtained for a person skilled in the art without inventive effort.
Fig. 1 is a schematic perspective view of a three-sided rotary mirror base of the present embodiment.
Fig. 2 is a flowchart of a method for optimizing the structure of the rotary mirror base according to the present embodiment.
Fig. 3 is a schematic diagram of the radial moment of the rotary mirror base around the motor shaft as a function of time for the initial structural model of the present embodiment.
Fig. 4 is a schematic diagram of the radial force of the rotary mirror base around the motor shaft as a function of time for the initial structural model of the present embodiment.
FIG. 5 is a characteristic parameter x of the present embodiment 1 And x 2 Is a schematic diagram of (a).
FIG. 6 is a characteristic parameter x of the present embodiment 3 Is a schematic diagram of (a).
FIG. 7 is a characteristic parameter x of the present embodiment 4 And x 5 Is a schematic diagram of (a).
Fig. 8 is a schematic diagram of the allowable unbalance e of the present embodiment.
Fig. 9 is a schematic diagram of the radial force of the rotary mirror mount around the motor shaft as a function of time for the optimized structural model of the present embodiment.
Fig. 10 is a schematic diagram of the radial moment of the rotary mirror base around the motor shaft as a function of time for the optimized structural model of the present embodiment.
Fig. 11 is a schematic structural diagram of a structural optimization system of the rotary mirror base of the present embodiment.
Detailed Description
Embodiments of the present embodiment will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present embodiments are illustrated in the accompanying drawings, it is to be understood that the present embodiments may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the present embodiments. It should be understood that the drawings and the embodiments of the present embodiments are presented for purposes of illustration only and are not intended to limit the scope of the embodiments.
The rotating mirror module consists of a rotating mirror seat and one or more reflecting mirrors, and the reflecting mirrors are arranged on the plane outside the rotating mirror seat. Fig. 1 is a schematic perspective view of a three-sided rotary mirror base of the present embodiment, and as shown in fig. 1, the three-sided rotary mirror base includes three side walls 10 for mounting a mirror; a window 20 is provided in each side wall for dispensing the back of a mirror mounted to the side wall to adhere the mirror to the side wall. The rotary mirror base also comprises a horizontal platform 30, and a central opening 40 of the horizontal platform is used for penetrating through a rotating shaft of the outer rotor of the motor; a plurality of small holes are uniformly distributed around the hole 40 for fixing the flange connected with the rotating shaft. The horizontal platform 30 divides the space formed by the three side walls by surrounding into an upper cavity and a lower cavity, and the upper cavity is used for providing an operation space for installing the outer rotor of the motor, and simultaneously, the weight reduction of the rotary lens seat is realized. The lower cavity is used for accommodating other parts of the motor outer rotor.
The rotary mirror base is generally formed by integrally forming a material (such as plastic or aluminum alloy) with uniform density, and flange mounting of the rotary mirror base, adhesion of a reflecting mirror of the rotary mirror base and the like are influenced by the flange, the rotary mirror base material and a mounting process, so that overall quality distribution of the rotary mirror can be influenced. In this embodiment, the influence of the flange and the reflecting mirror on the rotating mirror base is ignored, but only the structural optimization of the rotating mirror base is concerned, so that the uncontrollable influence related to the process is eliminated from the structural optimization of the rotating mirror base, the dynamic balance performance of the rotating mirror module is improved, the problem that the rotating mirror causes abrasion of the motor shaft and influences the service life of the motor shaft is solved, and the service life of the rotating mirror module is prolonged.
The dynamic unbalance amount is taken as an inherent attribute of the rotor system and is irrelevant to the rotating speed of the rotor, but in the experiment, the rotating speed of the rotor influences the precision of acquiring parameters related to the dynamic unbalance amount, the polar difference value of the parameters related to the dynamic unbalance amount acquired for a plurality of times at a certain rotating speed is overlarge, accurate parameters are difficult to obtain, and further, the optimization effect of the rotating lens base before and after optimization is difficult to verify.
Therefore, the embodiment provides a structure optimization method of the rotating lens base. Fig. 2 is a flowchart of a method for optimizing a structure of a rotary lens holder according to the present embodiment, as shown in fig. 2, the flowchart includes the following steps:
step S201, respectively carrying out dynamic balance experiments of the multiple times of rotating lens seats at different rotating speeds, and selecting a reliable dynamic balance experiment result according to the extreme differences of the dynamic balance experiment results at different rotating speeds.
Step S202, selecting characteristic parameters of the structure of the rotary lens base, taking the distance between the center of gravity of the rotary lens base and a motor shaft for driving the rotary lens base to rotate as an optimization target, optimizing the characteristic parameters of the structure of the rotary lens base, and obtaining optimized characteristic parameters.
And step S203, generating an optimized structure model of the rotary mirror base based on the optimized characteristic parameters, carrying out dynamic balance simulation on the optimized structure model at the design rotating speed, and verifying the optimized result of the optimized structure model according to the reliable dynamic balance experimental result and the dynamic balance simulation result of the optimized structure model.
Through the steps, the reliable dynamic balance experimental results suitable for evaluating the optimization effect of the rotary mirror base are selected through a plurality of groups of dynamic balance experiments, and after the structure of the rotary mirror base is optimized, the reliable dynamic balance experimental results are utilized to verify the optimization result of the rotary mirror base, so that the problem that the optimization effect of the rotary mirror base cannot be evaluated correctly due to inaccurate experimental data is avoided, the structural optimization of the rotary mirror base is realized, and the service life of the rotary mirror module is prolonged.
In some of these embodiments, the different rotational speeds in step S201 include: lower than the design rotational speed, and higher than the design rotational speed. For example, when the design rotation speed is 600rpm, the different rotation speeds used for the dynamic balance experiment may be 400rpm, 500rpm, 600rpm and 700rpm.
The experimental facilities of this embodiment adopts clamping jaw formula fan balancing machine, and four trilateral commentaries on classics mirror bases that the structure and the parameter that use are basically the same are regarded as experimental sample.
The initial design parameters of the experimental samples are as follows:
(1) Distance x from axis to mirror mounting surface A of rotary mirror base 1 16mm; distance x from axis to mirror mounting surface C of rotary mirror base 2 16mm; the mirror mounting surface B is respectively coupled with the mirror mounting surface A and the mirror mounting surface C in a size, and the mirror mounting surface B is a 90-degree plane;
(2) Width x of window on installation surface of each reflecting mirror of rotary mirror base 3 24mm each;
(3) Height x of motor outer rotor accommodating cavity of rotary mirror base 4 12.5mm;
(4) Height x of motor outer rotor installation space of rotary mirror base 5 17.7mm;
(5) The density of the rotary mirror base is 2.71 multiplied by 10 -6 kg/mm 3 The mass is 0.03kg;
(6) The centroid of the rotary lens base has a coordinate value (-0.073 mm, -0.1mm,15 mm), and the origin of the coordinate system is located on the axis.
The three groups of unbalance amounts, namely unbalance angles, respectively measured at the set rotating speed of the sample 1 are respectively as follows: 59.5mg, 277 °;34.1mg, 319 °;35.9mg, 328 deg..
The three groups of unbalance amounts, namely unbalance angles, respectively measured at the set rotating speed of the sample 2 are respectively as follows: 56.9mg, 288 °;47.1mg, 316 °;53.1mg, 309 deg..
The three groups of unbalance amounts, namely unbalance angles, respectively measured at the set rotating speed of the sample 3 are respectively as follows: 62.7mg, 262 °;45.5mg, 300 °;50.6mg, 301 deg..
The three groups of unbalance amounts, namely unbalance angles, respectively measured at the set rotating speeds of the sample 4 are respectively as follows: 43.4mg, 298 °;37.8mg, 306 °;38.0mg, 319 °.
I.e. the unbalance amount and unbalance angle of the above four samples are substantially the same.
The unbalance amount and unbalance angle were tested by performing dynamic balance experiments at 500rpm, 600rpm, and 700rpm for the above four samples, respectively, using a jaw fan balancer, and the difference value of the data obtained for each experiment was calculated. Wherein 600rpm is the design rotational speed. The experimental results are shown in table 1.
Table 1 unbalance amount and unbalance angle of rotary mirror base at different rotation speeds and their extreme values
In Table 1, at 500rpm, the experiments for samples 3 and 4 were not continued because the difference in the values of the measured data for the first two samples was too great. As can be seen from table 1, the lower the rotation speed, the larger the unbalance amount and the unbalance angle difference value measured by the experiment, which indicates that the data measured by the experiment are more inaccurate. At a rotation speed of 700rpm, the measured unbalance amount and unbalance angle have a range of 7mg and 5.27 °, respectively, and the error of the experimental data is already small, so in this embodiment, the rotation speed of 700rpm corresponding to the minimum range is selected as the simulation rotation speed.
In this embodiment, after the structure of the rotating lens base is optimized, when the optimization result of the optimized structure model is verified, the reliable dynamic balance experimental result is compared with the dynamic balance simulation result of the optimized structure model to verify the optimization result of the optimized structure model.
The dynamic balance experimental result obtained at the rotating speed of 700rpm is a reliable dynamic balance experimental result. When the optimization result of the optimization structure model is verified, the optimization result is judged by comparing the radial force and/or the radial moment of the rotating lens seat to the axis, and the smaller the radial force and/or the radial moment is, the better the optimization effect is indicated.
The dynamic unbalance amount can be directly measured by a dynamic balance experiment, and in the trusted dynamic balance experiment result, the average value of the dynamic unbalance amount is taken as the trusted dynamic unbalance amount value, namely the average value m of the dynamic unbalance amount per 129.5mg. Although the dynamic unbalance value is an inherent property of the rotor system, the service life of the rotating shaft is mainly considered as the radial force and the radial moment of the rotating mirror base on the rotating shaft, and the radial force and the radial moment are related to the rotating speed of the rotating mirror base in working, so the structure of the rotating mirror base is evaluated through the radial force and the radial moment in the embodimentAnd (5) optimizing the optimized result.
Calculating a first radial force of the rotating lens base to the axis based on the trusted test result:
F1=m per ×r×ω 2 =129.5×10 -6 kg×25mm×（20π） 2 =12.8mN。
wherein r is the correction radius of 25mm, and ω is the design rotation speed of 20pi.
Comparing the first radial force with the radial force obtained by simulating the optimized structure model, if the radial force obtained by simulating is smaller than 12.8mN, indicating that the structure of the rotary mirror base is optimized, otherwise, re-optimizing the characteristic parameters of the structure of the rotary mirror base.
In addition, in other embodiments, the initial dynamic balance simulation result can be further obtained by performing dynamic balance simulation on the initial structural model of the rotary lens seat, and then the initial dynamic balance simulation result is compared with the dynamic balance simulation result of the optimized structural model to verify the optimizing effect of the optimized structural model.
Fig. 3 and fig. 4 are schematic diagrams of the radial moment of the rotary mirror base around the motor shaft and the time as a function of the radial force of the rotary mirror base around the motor shaft obtained by simulation of the initial structural model of the present embodiment, and the schematic diagrams of the radial force of the rotary mirror base around the motor shaft and the time, respectively. Wherein, the radial moment of the rotating mirror seat relative to the axis is 1.015 mN.m; the resultant radial force of the rotary mirror base relative to the axis is 72.94mN, which is an indication of the static unbalance level of the rotary mirror base.
In order to verify the credibility of the initial dynamic balance simulation result, in the embodiment, a first radial force of the rotating lens base to the axis is calculated according to the dynamic unbalance amount measured by a dynamic balance experiment; calculating a second radial force of the rotating mirror base on the axis according to allowable unbalance obtained by dynamic balance simulation on the initial structure model; obtaining a third radial force of the rotating mirror base to the axis according to the dynamic balance simulation of the initial structure model; and then verifying the credibility of the initial dynamic balance simulation result by comparing the magnitude or the numerical difference of the first radial force, the second radial force and the third radial force. If the magnitude of the three radial forces is equivalent or the numerical difference is not large, the initial dynamic balance simulation result is considered to be reliable, and the method can be used for verifying the optimizing effect of the dynamic balance simulation result of the optimized rotating lens base.
1. According to the dynamic unbalance amount measured by a dynamic balance experiment, calculating a first radial force of the rotating lens base to the axis:
the average value m of the dynamic unbalance amount is measured in the dynamic balance experiment of the rotating lens base per 129.5mg.
Calculating a first radial force of the rotating lens base to the axis based on the trusted test result: f1 =m per ×r×ω 2 =129.5×10 -6 kg×25mm×（20π） 2 =12.8mn. Wherein r is the correction radius of 25mm, and ω is the design rotation speed of 20pi.
2. According to the allowable unbalance degree obtained by carrying out dynamic balance simulation on the initial structure model, calculating a second radial force of the rotating lens base on the axis:
the allowable unbalance e of the rotary lens holder indicates the distance between the center of gravity (or centroid) of the rotary lens holder and a motor shaft for driving the rotary lens holder to rotate, and since the coordinate value of the centroid of the rotary lens holder is (-0.073 mm, -0.1mm,15 mm), the origin of the coordinate system is located on the axis, and therefore, the allowable unbalance of the rotary lens holder:=123μm。
calculating a second radial force of the rotating lens base to the axis based on the allowable unbalance: f2 =m×e×ω 2 =0.03kg×0.123mm×（20π） 2 =14.6 mN. Wherein M is 0.03kg of the mass of the rotary lens seat, and omega is the design rotation speed 20 pi.
3. And carrying out dynamic balance simulation on the initial structural model of the rotary lens seat at the rotating speed of 600rpm by adopting simulation software CREO, and obtaining a third radial force F3=72.9 mN of the rotary lens seat to the axle center as shown in figure 4.
The magnitudes of the first, second and third radial forces described above are comparable and remain on the order of mN, indicating that the initial simulation results are also reliable.
Before optimizing the feature parameters of the structure of the rotating lens holder in step S202, the feature parameters selected as the optimized target variables include feature parameters affecting the center of mass and the rotation axis of the rotating lens holder. For example, the overall height of the rotating mount affects only the height of the centroid on the axis of rotation and does not affect the amount of dynamic imbalance and is therefore not a concern in optimization. In this embodiment, optimizing the feature parameters of interest selects feature parameters including, but not limited to, at least one of:
the distance from the axle center to the mirror mounting surface of the rotating mirror base;
the width of the window on the mirror mounting surface of the rotary mirror base;
the height of the motor outer rotor accommodating cavity of the rotary mirror seat;
and the motor outer rotor of the rotary mirror seat is arranged at the height of the installation space.
Fig. 5 to 7 are schematic diagrams of selected feature parameters of the present embodiment. Fig. 5 to 7 each show:
(1) Distance x from axis to mirror mounting surface A of rotary mirror base 1 ；
(2) Distance x from axis to mirror mounting surface C of rotary mirror base 2 ；
(3) Width x of window on installation surface of each reflecting mirror of rotary mirror base 3 ；
(4) Height x of motor outer rotor accommodating cavity of rotary mirror base 4 ；
(5) Height x of motor outer rotor installation space of rotary mirror base 5 。
Fig. 8 is a schematic diagram of allowable unbalance e of the present embodiment, and as shown in fig. 8, the allowable unbalance characterizes the distance between the axis of the rotating lens base and the center of mass of the rotating lens base, and the optimization target is to optimize the distance to 0, that is, optimize the allowable unbalance e=123 μm of the initial structural model toward the target of e=0.
In this embodiment, a gradient-based optimization method is adopted, the distance between the center of gravity of the rotary lens base and the motor shaft driving the rotary lens base to rotate is 0 as an optimization target, and the selected characteristic parameters of the structure of the rotary lens base are used as target variables for iterative optimization until convergence conditions are reached, so as to obtain optimized characteristic parameters.
Setting an objective function:
wherein x is 1 、x 2 、x 3 、x 4 、x 5 The parameter variables of the rotary lens base about the mass center and the rotation axis are respectively.
And obtaining an optimal solution of the objective function by adjusting the parameter variable value, wherein in the gradient-based optimization method, the gradient function of the objective function is as follows:
setting x by using CREO target parameter optimization module 1 、x 2 、x 3 、x 4 、x 5 For the target variable, the iteration target is set to 0, and the allowable unbalance e=36 μm of the optimized structural model is smaller than the allowable unbalance e=105 μm of the initial structural model by the optimal iteration result of the function at the software solution, as shown in table 2.
Table 2 shows the optimized characteristic parameters obtained after the iterative optimization
Dynamic balance simulation was performed on the optimized structure model at a rotation speed of 600rpm, and the simulation results are shown in fig. 9 and 10, wherein the radial force is 4.27mN, and the radial moment is 0.534mn·m. Compared with the radial force 72.8mN obtained by dynamic balance simulation aiming at the initial structural model, the radial moment 1.015 mN.m is greatly improved.
The embodiment also provides a structure optimization system of the rotating lens base. Fig. 11 is a schematic structural diagram of a structural optimization system of a rotary mirror base according to the present embodiment, as shown in fig. 11, the system includes: experimental apparatus 100, optimization apparatus 200, and simulation apparatus 300; wherein,
the experimental device 100 is used for respectively carrying out dynamic balance experiments of the rotary lens base for a plurality of times under different rotating speeds, and selecting the simulation rotating speed of the rotary lens base according to the extreme differences of the dynamic balance experiment results under different rotating speeds.
The optimizing device 200 is configured to select a characteristic parameter of the structure of the rotating lens base, take a distance between a center of gravity of the rotating lens base and a motor shaft that drives the rotating lens base to rotate as an optimization target, optimize the characteristic parameter of the structure of the rotating lens base, and obtain the optimized characteristic parameter.
The simulation device 300 is used for generating an optimized structure model of the rotary lens base based on the optimized characteristic parameters, and carrying out dynamic balance simulation on the optimized structure model at the simulated rotating speed so as to verify the optimized result of the optimized structure model.
In some of these embodiments, the verification of the optimization result of the optimization structure model by the simulation apparatus 300 according to the trusted dynamic balance experiment result and the dynamic balance simulation result of the optimization structure model includes: and comparing the credible dynamic balance experimental result with the dynamic balance simulation result of the optimized structure model to verify the optimized result of the optimized structure model.
In some of these embodiments, the simulation apparatus 300 is further configured to: generating an initial structure model of the rotary mirror base based on initial characteristic parameters of the rotary mirror base, and carrying out dynamic balance simulation on the initial structure model at a design rotating speed to obtain an initial dynamic balance simulation result; and comparing the initial dynamic balance simulation result with the dynamic balance simulation result of the optimized structure model to verify the optimizing effect of the optimized structure model.
In some of these embodiments, the system described above is further configured to: calculating a first radial force of the rotating lens seat to the axis according to the dynamic unbalance measured by the dynamic balance experiment; calculating a second radial force of the rotating mirror base on the axis according to allowable unbalance obtained by dynamic balance simulation on the initial structure model; obtaining a third radial force of the rotating mirror base to the axis according to the dynamic balance simulation of the initial structure model; based on the first radial force, the second radial force and the third radial force, the credibility of the initial dynamic balance simulation result is verified.
In some of these embodiments, the dynamic balance simulation results include: radial force and radial moment of the rotating mirror base to the axis.
In some of these embodiments, the selected characteristic parameters of the structure of the rotating mount include characteristic parameters that affect the center of mass and the rotational axis of the rotating mount.
In some embodiments, the selected characteristic parameters of the structure of the rotating lens holder include at least one of:
the distance from the axle center to the mirror mounting surface of the rotating mirror base;
the width of the window on the mirror mounting surface of the rotary mirror base;
the height of the motor outer rotor accommodating cavity of the rotary mirror seat;
and the motor outer rotor of the rotary mirror seat is arranged at the height of the installation space.
In some embodiments, the optimizing device 200 uses a distance between a center of gravity of the rotating lens base and a motor shaft driving the rotating lens base to rotate as a target value as an optimization target, optimizes a characteristic parameter of a structure of the rotating lens base, and obtains the optimized characteristic parameter, wherein the obtaining comprises: and (3) adopting a gradient-based optimization method, taking the distance between the center of gravity of the rotary lens seat and a motor shaft for driving the rotary lens seat to rotate as an optimization target, and taking the characteristic parameters of the selected structure of the rotary lens seat as target variables for iterative optimization until convergence conditions are reached, so as to obtain optimized characteristic parameters.
The embodiment also provides a rotary mirror base, and the rotary mirror base optimizes the characteristic parameters of the structure based on the structural optimization method of the rotary mirror base.
In some of these embodiments, the swivel mirror mount is a multi-faceted swivel mirror mount having N mirror mounting planes, where N is greater than or equal to 3.
In some of these embodiments, the different rotational speeds include: lower than the design rotational speed, and higher than the design rotational speed.
In some of these embodiments, the dynamic balance test results include: the amount of dynamic balance unbalance and/or the angle of dynamic balance unbalance.
In some embodiments, the experimental apparatus 100 selects the reliable dynamic balance experimental result according to the extreme differences of the dynamic balance experimental result at different rotation speeds, including: and selecting a dynamic balance experiment result corresponding to the minimum value of the range value as a reliable dynamic balance experiment result in dynamic balance experiments carried out at different rotating speeds.
The embodiment also provides a laser radar optical system, which comprises a rotating mirror module, an optical transmitting module and an optical receiving module, wherein the rotating mirror module comprises the rotating mirror seat.
It should be noted that the term "comprising" and its variants as used in the embodiments of the present invention are open-ended, i.e. "including but not limited to". The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. References to "one or more" modifications in the examples of the invention are intended to be illustrative rather than limiting, and it will be understood by those skilled in the art that "one or more" is intended to be interpreted as "one or more" unless the context clearly indicates otherwise.
The steps described in the method embodiments provided in the embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "embodiment" in this specification means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive. The various embodiments in this specification are described in a related manner, with identical and similar parts being referred to each other. In particular, for apparatus, devices, system embodiments, the description is relatively simple as it is substantially similar to method embodiments, see for relevant part of the description of method embodiments.
The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the patent claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.
Claims (12)
1. The structural optimization method of the rotary mirror base is characterized by comprising the following steps of:
respectively carrying out dynamic balance experiments of the rotary mirror base for a plurality of times under different motor rotating speeds, and selecting a reliable dynamic balance experiment result according to the extreme differences of the dynamic balance experiment results under different motor rotating speeds;
selecting characteristic parameters of the structure of the rotary lens seat, taking the distance between the gravity center of the rotary lens seat and a motor shaft for driving the rotary lens seat to rotate as an optimization target, optimizing the characteristic parameters of the structure of the rotary lens seat, and obtaining optimized characteristic parameters; generating an optimized structure model of the rotary mirror base based on the optimized characteristic parameters, carrying out dynamic balance simulation on the optimized structure model at the motor design rotating speed, and comparing the credible dynamic balance experimental result with the dynamic balance simulation result of the optimized structure model to verify the optimized result of the optimized structure model;
generating an initial structure model of the rotary mirror base based on the initial characteristic parameters of the rotary mirror base, and carrying out dynamic balance simulation on the initial structure model at the motor design rotating speed to obtain an initial dynamic balance simulation result; calculating a first radial force of the rotating lens seat to the axis according to the dynamic unbalance measured by the dynamic balance experiment; calculating a second radial force of the rotating mirror base on the axis according to allowable unbalance degree obtained by dynamic balance simulation on the initial structure model; according to the dynamic balance simulation of the initial structure model, obtaining a third radial force of the rotating lens base on the axis; verifying the credibility of the initial dynamic balance simulation result based on the first radial force, the second radial force and the third radial force;
and under the condition that the initial dynamic balance simulation result is credible, comparing the initial dynamic balance simulation result with the dynamic balance simulation result of the optimized structure model to verify the optimizing effect of the optimized structure model.
2. The method of claim 1, wherein the dynamic balance simulation results comprise: radial force and radial moment of the rotating mirror base to the axis.
3. The method of claim 1, wherein the selected characteristic parameters of the structure of the rotating mount include characteristic parameters affecting a center of mass and a rotational axis of the rotating mount.
4. The method of claim 1, wherein the selected characteristic parameters of the structure of the rotating mount include at least one of:
the distance from the axle center to the mirror mounting surface of the rotating mirror base;
the width of the window is formed on the mirror mounting surface of the rotating mirror seat;
the motor outer rotor of the rotary mirror seat accommodates the height of the cavity;
and the motor outer rotor of the rotary mirror seat is arranged at the height of the installation space.
5. The method according to claim 1, wherein optimizing the feature parameters of the structure of the rotary lens holder with a distance between a center of gravity of the rotary lens holder and a motor shaft that drives the rotary lens holder to rotate as a target value as an optimization target includes:
and (3) adopting a gradient-based optimization method, taking the distance between the gravity center of the rotary lens seat and a motor shaft for driving the rotary lens seat to rotate as an optimization target, and taking the selected characteristic parameters of the structure of the rotary lens seat as target variables to carry out iterative optimization until convergence conditions are reached, so as to obtain optimized characteristic parameters.
6. The method of claim 1, wherein the different motor speeds comprise: lower than the motor design speed, higher than the motor design speed, and higher than the motor design speed.
7. The method of claim 1, wherein the dynamic balance test results comprise: the amount of dynamic balance unbalance and/or the angle of dynamic balance unbalance.
8. The method of claim 7, wherein selecting the reliable dynamic balance test result based on the range of dynamic balance test results at different rotational speeds comprises:
and selecting a dynamic balance experiment result corresponding to the minimum value of the polar difference value as the credible dynamic balance experiment result in dynamic balance experiments carried out at different motor rotating speeds.
9. A structural optimization system for a rotating mount, comprising: the experimental device, the optimizing device and the simulation device; wherein,
the experimental device is used for respectively carrying out dynamic balance experiments of the rotary lens base for a plurality of times under different motor rotating speeds, and selecting a reliable dynamic balance experimental result according to the extreme differences of the dynamic balance experimental results under different motor rotating speeds;
the optimizing device is used for selecting the characteristic parameters of the structure of the rotary mirror base, taking the distance between the gravity center of the rotary mirror base and a motor shaft for driving the rotary mirror base to rotate as a target value as an optimizing target, optimizing the characteristic parameters of the structure of the rotary mirror base, and obtaining optimized characteristic parameters;
the simulation device is used for generating an optimized structure model of the rotary mirror base based on the optimized characteristic parameters, carrying out dynamic balance simulation on the optimized structure model at the motor design rotating speed, and comparing the credible dynamic balance experimental result with the dynamic balance simulation result of the optimized structure model to verify the optimized result of the optimized structure model; generating an initial structure model of the rotary mirror base based on the initial characteristic parameters of the rotary mirror base, and carrying out dynamic balance simulation on the initial structure model at the motor design rotating speed to obtain an initial dynamic balance simulation result;
the structure optimization system of the rotary mirror seat is also used for calculating a first radial force of the rotary mirror seat to the axle center according to the dynamic unbalance measured by the dynamic balance experiment; calculating a second radial force of the rotating mirror base on the axis according to allowable unbalance obtained by dynamic balance simulation on the initial structure model; obtaining a third radial force of the rotating mirror base to the axis according to the dynamic balance simulation of the initial structure model; verifying the credibility of the initial dynamic balance simulation result based on the first radial force, the second radial force and the third radial force;
the simulation device is further used for comparing the initial dynamic balance simulation result with the dynamic balance simulation result of the optimized structure model under the condition that the initial dynamic balance simulation result is reliable so as to verify the optimizing effect of the optimized structure model.
10. A rotary mirror mount, characterized in that the rotary mirror mount performs structural feature parameter optimization based on the structural optimization method of the rotary mirror mount according to any one of claims 1 to 8.
11. The rotary mirror mount of claim 10, wherein the rotary mirror mount is a multi-faceted rotary mirror mount having N mirror mounting planes, where N is greater than or equal to 3.
12. A lidar optical system comprising a turning mirror module, an optical transmitting module and an optical receiving module, wherein the turning mirror module comprises the turning mirror mount according to claim 10 or 11.
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