CN206892604U - Flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry - Google Patents
Flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry Download PDFInfo
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- CN206892604U CN206892604U CN201720704594.3U CN201720704594U CN206892604U CN 206892604 U CN206892604 U CN 206892604U CN 201720704594 U CN201720704594 U CN 201720704594U CN 206892604 U CN206892604 U CN 206892604U
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- hinged plate
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- plate body
- flexible hinged
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Abstract
The utility model discloses a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry, including flexible hinged plate body, vibration detecting part, drive control part, signal processing module and computer；Flexible hinged plate body is connected together through the hinges by two block of material identical flexible boards and formed；Vibration detecting part includes multiple acceleration transducers, two industrial cameras and a slide projector；Drive control part includes multiple piezoelectric patches drivers；Vibration detecting part detects the vibration signal of flexible hinged plate body, vibration signal is inputted in computer by signal processing module, computer runs corresponding Algorithm of Active Control, is exported by signal processing module to drive control part, to suppress the vibration of flexible hinged plate body.The vibration control apparatus realizes the complete heed contacted measure to being hinged panel vibration using the method for slide projector projection signs point combining camera detection so that measurement result is more accurate.
Description
Technical field
It the utility model is related to positioning and the vibration control field of flexible structure, and in particular to one kind is surveyed based on binocular vision
The flexible hinged plate vibration control apparatus of amount.
Background technology
Flexibility, maximization are an important development trend of all kinds of space structures, and lightweight construction means to increase
The weight of payload, large scale structure to have more flexibility when Spacecraft guidance and control, manufacture.However, due to large-size pliable structure
Rigidity is low, flexible big, when being run in the space without extrernal resistance, is highly prone to external drive effect and produces long-term
Low frequency Large Amplitude Vibration, therefore, vibration analysis and control research to large-size pliable structure are necessary.
In existing technology, flexible panel structure simulated space windsurf board generally is used, mainly using piezoelectric patches, acceleration sensing
The senser elements such as device, marmem, angular rate gyroscope sensor, photoelectrical position sensor, to realize to flexible hardened
The vibration measurement of structure.But piezoelectric and marmem due to self-strength, fatigue life and heat resistance etc. because
Element, using being subject to certain restrictions；Acceleration transducer and angular rate gyroscope sensor can only measure thing to noise-sensitive
The displacement information of certain point on body；The measurement range of photoelectrical position sensor is big compared with small, complicated, operation difficulty, calculated
Journey is cumbersome and costly.
In large-size pliable structure vibration measurement and the research of active control, shaking for binocular vision system measurement structure is utilized
It is dynamic to have its unique advantage.Binocular vision photogrammetry is a kind of non-contact measurement, and it does not change the vibration characteristics of structure, therefore obtains
The measurement result arrived is accurate.Require that there is index point in structure in Binocular vision photogrammetry, pasted in practice in generally use structure
The way of index point is projected on index point and structure, the way of sticking sign point can influence structure to a certain extent in structure
Vibration, and projection signs point can realize real non-contact measurement, but with the vibration information of subpoint come true instead of plate
Vibration information employ approximation method, because the vibration of plate is small magnitude, namely this approximation method of explanation is feasible.
Low frequency flexural vibrations and twisting vibration are coupled in the vibration of large-size pliable structure such as flexible board, utilize
Camera is monitored to different index points, can obtain the vibration information of unlike signal point, so that by vibration uncoupling, is obtained respectively
To the flexural vibrations information and twisting vibration information of plate, flexural vibrations information is used for driving the bending of piezoelectric actuator suppressing plate to shake
Dynamic, twisting vibration information is used for driving the twisting vibration of piezoelectric actuator suppressing plate.
Utility model content
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided a kind of flexibility based on Binocular vision photogrammetry
Articulated slab vibration control apparatus, to realize to non-contact, the real-time accurate measurement of flexible, hinged panel vibration, while take into account with
Subpoint vibration information replaces the approximation of flexible board indeed vibrations information.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry, including flexible hinged plate body, vibration
Detection part, drive control part, signal processing module and computer；The flexible hinged plate body is by two block of material identicals
Flexible board is connected together through the hinges, and flexible hinged plate body one end of composition is vacantly clipped in fixation by mechanical gripping means
In on the bearing of horizontal experimental bench I, flexible hinged plate body and horizontal plane, the other end are free end；The vibration detection
Part includes camera calibration part and multiple acceleration transducers, and camera calibration part includes two industrial cameras and a magic lantern
Machine, two industrial cameras are fixed on horizontal experimental bench II by slide rail, form two CCD camera measure system, and slide projector is also placed in
On horizontal experimental bench II, by dot projection to flexible hinged plate body, the lens plane of two industrial cameras is parallel to flexibility
Articulated slab body, alignment slide projector are incident upon the hot spot on flexible hinged plate body；Multiple acceleration transducers are arranged on flexibility
Articulated slab body is close to the edge of free end；The drive control part includes multiple piezoelectric patches drivers, multiple piezoelectric patches
Driver double faced adhesive is in flexible hinged plate body on the flexible board of fixing end；Vibration detecting part detects flexible, hinged
The vibration signal of plate body, vibration signal is inputted in computer by signal processing module, computer operation is corresponding actively
Control algolithm, then exported by signal processing module to drive control part, to suppress the vibration of flexible hinged plate body.
Further, the signal processing module includes modification amplifier, acquisition and control card, terminal board and voltage amplification
Device, vibration detecting part detect the vibration signal of flexible hinged plate body, and terminal is transferred to after being modulated by modification amplifier
Plate, then inputted after converting analog signals into data signal by the A/D modular converters inside acquisition and control card in computer, meter
Calculation machine runs corresponding Algorithm of Active Control, and control signal is exported via acquisition and control card, by the transmission of terminal board, and passed through
By being exported after voltage amplifier amplified signal to drive control part, to suppress the vibration of flexible hinged plate body.
Further, the quantity of the piezoelectric patches driver and specific paste position can be according to flexible hinged plate bodies
Size and material designed, designed.
Further, the facula position that the slide projector is incident upon on flexible hinged plate body can be wanted according to gauger
The vibration information of obtained flexible hinged plate body carrys out designed, designed.
Further, the drive control part includes multiple piezoelectric patches drivers, wherein 4 piezoelectric patches drivers are pasted
Positive and negative in flexible hinged plate body close to the flexible board center line of fixing end, it is symmetrical to paste per face two panels, it is connected in parallel, uses
In the twisting vibration of control flexible board；Wherein 8 piezoelectric patches drivers are pasted on flexible hinged plate body close to the soft of fixing end
Property plate center line both sides positive and negative, it is symmetrical to paste per four, face, be connected in parallel, for controlling the flexural vibrations of flexible board；It is close
The right side width direction centre position of the flexible board of fixing end, also pastes a piece of piezoelectric patches driver, is sensed as flexural vibrations
Device.
Further, the flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry can be used for simulation space
The Vibration Condition of middle solar energy sailboard, in the case of solar energy sailboard local environment gauge without light source, use slide projector projection signs
The mode of point combining camera detection, obtain the vibration information of solar energy sailboard.
The utility model compared with prior art, has the following advantages that and beneficial effect：
1st, the flexible hinged plate vibration control apparatus of the present utility model based on Binocular vision photogrammetry is projected using slide projector
The method of index point combining camera detection realizes the complete heed contacted measure to being hinged panel vibration, due to measuring not to plate
Vibration characteristics has any influence, so the measurement result obtained is more accurate.
2nd, the flexible hinged plate vibration control apparatus of the present utility model based on Binocular vision photogrammetry uses camera to projection
Unlike signal point be monitored, the vibration information of unlike signal point can be obtained, the vibration information of unlike signal point can be anti-
The flexural vibrations information and twisting vibration information of flexible board are mirrored, it is achieved thereby that the vibration uncoupling of flexible board.
3rd, the utility model obtains the index point in plate face using the method for slide projector projection hot spot, solves gauge without light source
The vibration measurement problem of articulated slab under environment.
Brief description of the drawings
Fig. 1 is the totality of flexible hinged plate vibration control apparatus of the utility model embodiment 1 based on Binocular vision photogrammetry
Structural representation.
Fig. 2 is the schematic diagram of flexible hinged plate body in the utility model embodiment 1.
Fig. 3 is the flow chart that industrial camera is demarcated to index point hot spot in the utility model embodiment 2.
Fig. 4 is the two CCD camera measure system metering system that two industrial cameras are formed in the utility model embodiment 2
Flow chart.
Wherein, 1- industrial cameras, 2- acceleration transducers, 3- hinges, 4- piezoelectric patches drivers, 5- slide projectors.
Embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
Embodiment 1：
As shown in figure 1, a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry is present embodiments provided,
Including flexible hinged plate body, vibration detecting part, drive control part, signal processing module and computer；The flexible hinge
Fishplate bar body is linked together (as shown in Figure 2) by two block of material identical flexible boards by hinge (3), the flexible, hinged of composition
Plate body one end is vacantly clipped in by mechanical gripping means to be fixed on the bearing of horizontal experimental bench I, flexible hinged plate body with
Horizontal plane, the other end are free end；The vibration detecting part includes camera calibration part and multiple acceleration transducers
(2), camera calibration part includes two industrial cameras (1) and a slide projector (5), and two industrial cameras (1) are consolidated by slide rail
It is scheduled on horizontal experimental bench II, forms two CCD camera measure system, slide projector (5) is also placed on horizontal experimental bench II, by hot spot
It is projected on flexible hinged plate body, the lens plane of two industrial cameras (1) is directed at magic lantern parallel to flexible hinged plate body
Machine (5) is incident upon the hot spot on flexible hinged plate body；It is close that two acceleration transducers (2) are arranged on flexible hinged plate body
The edge of free end；The drive control part includes multiple piezoelectric patches drivers (4), wherein 4 piezoelectric patches drivers (4)
Positive and negative of the flexible hinged plate body close to the flexible board center line of fixing end is pasted on, symmetrical to paste per face two panels, parallel connection is even
Connect, for controlling the twisting vibration of flexible board；Wherein 8 piezoelectric patches drivers (4) are pasted on flexible hinged plate body close to solid
The positive and negative of the flexible board center line both sides of fixed end, it is symmetrical to paste per four, face, it is connected in parallel, for controlling the bending of flexible board
Vibration, close to the right side width direction centre position of the flexible board of fixing end, a piece of piezoelectric patches driver is also pasted, as bending
Vibrating sensor.Vibration detecting part detects the vibration signal of flexible hinged plate body, will be vibrated by signal processing module
In signal input computer, computer runs corresponding Algorithm of Active Control, is then exported by signal processing module to driving
Control section, to suppress the vibration of flexible hinged plate body.
Wherein, the signal processing module includes modification amplifier, acquisition and control card, terminal board and voltage amplifier, shakes
Dynamic detection part detects the vibration signal of flexible hinged plate body, and terminal board is transferred to after being modulated by modification amplifier, then
Inputted after converting analog signals into data signal by the A/D modular converters inside acquisition and control card in computer, computer
Corresponding Algorithm of Active Control is run, control signal is exported via acquisition and control card, by the transmission of terminal board, and via electricity
Exported after pressure amplifier amplifies signals to drive control part, to suppress the vibration of flexible hinged plate body.
Further, the quantity of the piezoelectric patches driver (4) and specific paste position can be according to flexible hinged plate sheets
The size and material designed, designed of body.The facula position that the slide projector (5) is incident upon on flexible hinged plate body being capable of root
The vibration information for the flexible hinged plate body for wanting to obtain according to gauger carrys out designed, designed.It is described based on the soft of Binocular vision photogrammetry
Property articulated slab vibration control apparatus can be used for the Vibration Condition of solar energy sailboard in simulation space, in ring residing for solar energy sailboard
In the case of the gauge without light source of border, using the mode of slide projector (5) projection signs point combining camera detection, shaking for solar energy sailboard is obtained
Dynamic information.
In the present embodiment, the flexible board used is epoxide resin material thin plate, the i.e. first piece of flexibility being connected with fixing end
The size of plate is 550mm × 500mm × 2mm, and the size of second piece of flexible board is 50mm × 500mm × 2mm.The bullet of epoxy resin
Property modulus is Ep=34.64Gpa, density are ρ=1840kg/m3.Type of the industrial camera (1) from the production of German Basler companies
Number GIGE cameras for being acA1600-60gc, using CMOS sensitive chips, highest frame per second 60fps, resolution ratio is 1600 × 1200；
From the camera lens of company of Ricoh, its model FL-HC0614-2M, focal length 6mm, size is Φ 32mm × 35.7mm, and slide rail selects
The model SENA33H-400-V10-W70 produced with MISUMI companies slide rail, length 400mm.Slide projector (5) selects moral
The model E130 of Braun Aktiengesellschaft of state production 130af slide projectors, are equipped with 24V/150W major lights.Piezoelectric patches driver (4) by
Piezoceramic material is made, and physical dimension is 45mm × 15mm × 1mm, and slabbing is pasted onto on flexible board, apart from fixing end
230mm or 20mm, apart from plate width lower edges 45mm, the modulus of elasticity of piezoceramic material is Ep=63Gpa, d31
=-166pm/V.For acceleration transducer (2) from the model 8310B10 of Kistler companies capacitance type sensor, its is nominal
Sensitivity is 200mv/g, and measurement frequency scope is 0-180Hz.Acquisition and control card selects the DMC- of GALIL companies of U.S. production
2x00 digital motion controllers, there is provided the pci bus interface of standard；The CPU models of the computer of selection
Core76650U2.2GHz, internal memory 4G, there are PCI-e slots in mainboard, acquisition and control card can be installed.Type can be selected in voltage amplifier
Number for APEX-PA241DW or APEX-PA240CX the part such as piezoelectric amplifier composition, multiplication factor can reach 52 times, will-
5V~+5V is amplified to -260~+260V.
Embodiment 2：
Present embodiments provide a kind of flexible hinged plate vibration control method based on Binocular vision photogrammetry, including following step
Suddenly：
First, open slide projector (5) by index point dot projection on flexible hinged plate body, using industrial camera (1) and
Acceleration transducer (2) detects the vibration of flexible hinged plate body, obtains corresponding vibration signal；
In this step, the flow chart that industrial camera (1) is demarcated to index point hot spot is as shown in figure 3, including following step
Suddenly：
The first step, establish coordinate system：With the midpoint O on second piece of preceding surface of flexible boardwFor the origin of coordinates, world coordinates is established
It is OW-XWYWZW；With the photocentre O of cameracFor origin, camera coordinates system O is establishedc-XcYcZc；With first, image upper left corner pixel
For origin O0, establish image coordinate system O0-UV；With the central point O of image1For origin, photo coordinate system O is created as1-XY。
The world coordinate system coordinate of any point (such as P points) and camera coordinates system transformation of coordinates in second step, space, can
To be described with spin matrix R and translation vector t：
Wherein, (xc yc zc)、(xw yw zw) it is respectively coordinate of the P points in camera coordinates system and world coordinate system.R is
Orthogonal matrices, t are D translation vector.
3rd step, in this demarcation, the model that camera uses is pin-hole model, therefore imaging process has following coordinate and become
Change：
Wherein, (x y) be image in P points coordinate, (xc yc zc) it is coordinate of this in camera coordinates system, f is phase
Machine lens focus.Above formula is expressed as with matrix form：
Summary, obtain imaging plane coordinate system coordinate and world coordinate system transformation of coordinates relation：
The origin O of 4th step, image coordinate system0At the pixel of first, the upper left corner of the plane of delineation, U axles and V axles point
Not along the width and short transverse of image, coordinate points (u v) represent u row, the pixel of v rows in image.Camera optical axis with
The intersection point of the plane of delineation is O1(u0 v0), this point is the center of image, and using the point as origin, X-axis and Y-axis are respectively along the width of image
Degree and short transverse, are created as photo coordinate system O1-XY.If each pixel physical size in X-axis, Y direction point
It is not dx, dy, then any one pixel has following relation under two coordinate systems on image：
It is expressed as matrix form：
In summary, any point P image coordinate system coordinate and world coordinate system transformation of coordinates relation can be obtained：
In formula,u0、v0Four parameters are only relevant with camera internal structure, referred to as camera internal parameter；And square
Battle array R and vectorial t is relevant with the position of camera and posture, and unrelated with camera structure, referred to as camera external parameter.Determine camera
The process of inside and outside portion's parameter, is exactly camera calibration.Camera calibration method uses the Zhang Zhengyou based on gridiron pattern scaling board in experiment
Standardization, i.e., by the coordinate for the characteristic point for extracting the black and white chessboard scaling board image shot, utilize Maximum Likelihood Estimation Method solution
The inside and outside parameter of camera model is obtained, opencv or MATLAB calibration tool casees can be used in practical operation.
The flow chart for the two CCD camera measure system metering system that two industrial cameras (1) are formed is as shown in Figure 4；
2nd, transmitted after the vibration signal that acceleration transducer in step 1 (2) collects is modulated by modification amplifier
To terminal board, then convert analog signals into after data signal to input by the A/D modular converters inside acquisition and control card and calculate
In machine, the vibration signal that industrial camera (1) collects is directly inputted in computer；
3rd, computer runs corresponding Algorithm of Active Control, obtained oscillation control signal via acquisition and control card D/A
Modular converter exports, by the information transmission of terminal board, and via being exported after voltage amplifier amplified signal to drive control part
Point, to suppress the vibration of flexible hinged plate body；
4th, change control parameter, repetition test, obtain many experiments result, the vibration for obtaining flexible hinged plate body is special
Property and control effect.
It is described above, only the utility model patent preferred embodiment, but the protection domain of the utility model patent is simultaneously
This is not limited to, any one skilled in the art is in the scope disclosed in the utility model patent, according to this
The technical scheme of utility model patent and its inventive concept are subject to equivalent substitution or change, belong to the guarantor of the utility model patent
Protect scope.
Claims (5)
- A kind of 1. flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry, it is characterised in that：Including flexible hinged plate Body, vibration detecting part, drive control part, signal processing module and computer；The flexible hinged plate body is by two pieces Material identical flexible board is connected together through the hinges, and flexible hinged plate body one end of composition is hanged by mechanical gripping means Sky, which is clipped in, to be fixed on the bearing of horizontal experimental bench I, and flexible hinged plate body and horizontal plane, the other end are free end；Institute Stating vibration detecting part includes camera calibration part and multiple acceleration transducers, and camera calibration part includes two industrial cameras With a slide projector, two industrial cameras are fixed on horizontal experimental bench II by slide rail, form two CCD camera measure system, unreal Lamp machine is also placed on horizontal experimental bench II, by dot projection to flexible hinged plate body, the lens plane of two industrial cameras Parallel to flexible hinged plate body, alignment slide projector is incident upon the hot spot on flexible hinged plate body；Multiple acceleration transducers Installed in flexible hinged plate body close to the edge of free end；The drive control part includes multiple piezoelectric patches drivers, Multiple piezoelectric patches driver double faced adhesives are in flexible hinged plate body on the flexible board of fixing end；Vibration detecting part detects To the vibration signal of flexible hinged plate body, vibration signal is inputted in computer by signal processing module, computer operation Corresponding Algorithm of Active Control, then exported by signal processing module to drive control part, to suppress flexible hinged plate sheet The vibration of body.
- 2. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature It is：The signal processing module includes modification amplifier, acquisition and control card, terminal board and voltage amplifier, vibration detecting part Go-on-go measures the vibration signal of flexible hinged plate body, and terminal board is transferred to after being modulated by modification amplifier, then passes through collection A/D modular converters inside control card are inputted in computer after converting analog signals into data signal, and computer operation is corresponding Algorithm of Active Control, control signal is exported via acquisition and control card, by the transmission of terminal board, and via voltage amplifier Exported after amplified signal to drive control part, to suppress the vibration of flexible hinged plate body.
- 3. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature It is：The quantity of the piezoelectric patches driver and specific paste position can be according to the sizes and material of flexible hinged plate body Designed, designed.
- 4. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature It is：The facula position that the slide projector is incident upon on flexible hinged plate body can want obtained flexible hinge according to gauger The vibration information of fishplate bar body carrys out designed, designed.
- 5. a kind of flexible hinged plate vibration control apparatus based on Binocular vision photogrammetry according to claim 1, its feature It is：The drive control part includes multiple piezoelectric patches drivers, wherein 4 piezoelectric patches drivers are pasted on flexible hinged plate Body, per face two panels, symmetrical stickup, is connected in parallel, for controlling flexible board close to the positive and negative of the flexible board center line of fixing end Twisting vibration；Wherein 8 piezoelectric patches drivers are pasted on flexible hinged plate body close to the flexible board center line both sides of fixing end Positive and negative, it is symmetrical to paste per four, face, be connected in parallel, for controlling the flexural vibrations of flexible board；Close to the flexibility of fixing end The right side width direction centre position of plate, also pastes a piece of piezoelectric patches driver, as flexural vibrations sensor.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709632A (en) * | 2018-07-12 | 2018-10-26 | 华南理工大学 | A kind of vibration detection device and method of guy rope connection flexible structure |
| CN108801440A (en) * | 2018-07-12 | 2018-11-13 | 华南理工大学 | Flexible board bending vibration detection control apparatus and method |
| CN108958307A (en) * | 2018-09-30 | 2018-12-07 | 华南理工大学 | Flexible annular panel vibration detection control apparatus and method |
-
2017
- 2017-06-16 CN CN201720704594.3U patent/CN206892604U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709632A (en) * | 2018-07-12 | 2018-10-26 | 华南理工大学 | A kind of vibration detection device and method of guy rope connection flexible structure |
| CN108801440A (en) * | 2018-07-12 | 2018-11-13 | 华南理工大学 | Flexible board bending vibration detection control apparatus and method |
| CN108801440B (en) * | 2018-07-12 | 2023-09-26 | 华南理工大学 | Flexible board bending vibration detection control device and method |
| CN108958307A (en) * | 2018-09-30 | 2018-12-07 | 华南理工大学 | Flexible annular panel vibration detection control apparatus and method |
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