CN208860468U - Flexible board bending vibration detection control apparatus - Google Patents
Flexible board bending vibration detection control apparatus Download PDFInfo
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- CN208860468U CN208860468U CN201821103370.8U CN201821103370U CN208860468U CN 208860468 U CN208860468 U CN 208860468U CN 201821103370 U CN201821103370 U CN 201821103370U CN 208860468 U CN208860468 U CN 208860468U
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Abstract
The utility model discloses a kind of flexible board bending vibration detection control apparatus, described device includes at least two pieces of flexible boards, vibration detection mechanism, driving mechanism and control assembly；All flexible boards are successively hinged by flexible hinge, form flexible hinged plate；Vibration detection mechanism includes vision system, bracket, at least one acceleration transducer, at least two panels piezoelectric transducer and at least two laser displacement sensors, vision system is arranged on bracket, each acceleration transducer is disposed therein on one piece of flexible board, every piezoelectric transducer is arranged on corresponding flexible board, and every laser displacement sensor is directed at corresponding flexible board；Driving mechanism includes piezoelectric actuator and air bearing balance system, and piezoelectric actuator is arranged on one piece of flexible board, and air bearing balance system is connect at least one piece of flexible board.The utility model effectively eliminates influence of other uncontrollable factors for vibration control effect, can sufficiently reflect the global property of flexible hinged plate mode of oscillation.
Description
Technical field
The utility model relates to a kind of vibration detection control device, especially a kind of flexible board bending vibration detection control dress
It sets, belongs to movement and the vibration control field of flexible structure.
Background technique
While modern economy rapid development, space industry items technology is also rapidly developed.It is flexibility, big
Type, Low rigidity are an important trends of all kinds of space structures, and flexible structure can increase the weight of payload, mention
The efficiency of high delivery vehicle；Large scale structure can increase the flexibility of the functionality and Spacecraft guidance and control, manufacture in space.In space flight
Aviation field is needed using a large amount of solar energy sailboard, and solar energy sailboard in practice is formed by connecting by muti-piece rectangle windsurfing, the
One section of one piece of windsurfing is connected with spacecraft, and the other end is connected by hinge with second piece of windsurfing, second piece of windsurfing then with
Same mode is connected with third block windsurfing；In this way, muti-piece rectangle windsurfing has connected and composed solar energy sailboard.In this connection strap
Under part, solar energy sailboard has the characteristics that large span and high flexibility.And under the space environment of no extrernal resistance, it is highly prone to external sharp
It encourages and acts on and generate long-term low frequency Large Amplitude Vibration, therefore, vibration analysis and control to large-size pliable structure
Research is necessary.
In recent years, the active vibration control of flexible structure becomes the emphasis and hot subject of world today's research.Acceleration
Sensor mass is light, easy to install, and frequency band is wider, can be increased in broad frequency band range using acceleration transducer feedback control
The active damping of system enhances system robustness.Since the application of acceleration transducer can make an uproar to a large amount of high frequency of system import
Acoustical signal, therefore to be filtered.It is excellent that piezoceramic material has that response is fast, bandwidth, the linearity are good, are easily worked etc.
Point, the vibration control application particularly suitable for flexible structures such as flexible boards.Laser displacement sensor be using laser technology into
The sensor of row measurement.It is made of laser, laser detector and measuring circuit, being capable of accurate non-cpntact measurement testee
The variation such as position, displacement, the dimensional measurement of the precision such as displacement, thickness, vibration, distance, diameter can be measured.Use laser position
Displacement sensor can carry out vibration signal detection in the case where not increasing flexible board load.
Flexible hinge (or flexible bearing) is the elastic bearing that a kind of structure is simple, shape is more regular, is had and several
The centre of gyration of what center overlapping of axles, the finite deformation for relying on the elastic sheet of circumference radial equipartition work.It is reversing
Under load, rotary motion is generated in limited angular range around its centre of gyration.Before and after nineteen sixties, due to aviation
The development of space technology not only proposes high-resolution requirement to the support construction for realizing a small range deflection, also requires knot
With the requirement of microminaturization on structure.People gradually develop volume after to all types of resilient support experimental explorings
It is small, without mechanical friction, gapless, the flexible flexible hinge of movement.Flexure hinge mechanism be utilized elastic material micro-strain and
It eliminates the idle running and mechanical friction in transmission process, can obtain the displacement resolution of superelevation from the characteristic replied.
Utility model content
Purpose of the utility model is to solve the defects of the above-mentioned prior art, provide a kind of flexible board bending vibration
Detection control apparatus, the device effectively eliminate influence of other uncontrollable factors for vibration control effect, for research hinge
Influence of the chain link for flexible, hinged panel vibration provides good condition, effectively mitigates the load effect of flexible hinged plate,
So that the data of measurement are more accurate, obtained flexible hinged plate vibration information is more complete, can sufficiently reflect flexible, hinged
The global property of panel vibration mode.
The purpose of this utility model can be reached by adopting the following technical scheme that:
Flexible board bending vibration detection control apparatus, including at least two pieces of flexible boards, vibration detection mechanism, driving mechanism and
Control assembly；
At least two pieces of flexible boards are perpendicular to horizontal plane, and, formation flexibility successively hinged by flexible hinge
Articulated slab；
The vibration detection mechanism includes vision system, bracket, at least one acceleration transducer, at least two panels piezoelectricity biography
Sensor and at least two laser displacement sensors, the vision system is arranged on bracket, for detecting between each flexible board
Flexible hinge, each acceleration transducer are disposed therein on one piece of flexible board, the piezoelectric transducer, laser displacement sensor
It is to correspond with flexible board, every piezoelectric transducer is arranged on corresponding flexible board, every laser displacement sensor pair
Quasi- corresponding flexible board；
The driving mechanism includes piezoelectric actuator and air bearing balance system, and piezoelectric actuator is arranged in one piece of flexible board
On, the air bearing balance system is connect at least one piece of flexible board；
The control assembly respectively with vision system, acceleration transducer, piezoelectric transducer, laser displacement sensor, pressure
Electric drive, the connection of air bearing balance system.
Further, the air bearing balance system includes at least one floating cushion and pneumatic circuit, each floating cushion and its
In one piece of flexible board lower end connection, the pneumatic circuit connect with floating cushion, is used for floating cushion offer gas-pressurized.
Further, the pneumatic circuit includes air pump, pneumatic triple piece and switch valve, the air pump, pneumatic triple piece
It is sequentially connected with switch valve, the switch valve is connect with floating cushion.
Further, described device further includes the first support platform, and first support platform is arranged under floating cushion
Side makes to form thin film between floating cushion and the first support platform after the pneumatic circuit provides gas-pressurized to floating cushion.
Further, the vision system include at least an industrial camera, at least one holder, at least one sliding block with
And a guide rail, the guide rail are fixed on bracket, the industrial camera, holder and sliding block are to correspond, each sliding block
It being slidably arranged on guide rail, the camera lens of every industrial camera is directed at the flexible hinge between adjacent two pieces of flexible boards straight down,
And every industrial camera is arranged on corresponding holder, each holder is fixed on corresponding sliding block.
Further, the control assembly includes computer, motion control card, terminal board, sensor controller, driving electricity
Road, piezoelectric amplifier and charge amplifier, the computer, motion control card and terminal board are sequentially connected, the motion control
Card is connect with sensor controller, driving circuit respectively, and the terminal board is connect with piezoelectric amplifier, charge amplifier respectively；
The computer is connect with vision system, and the sensor controller is connect with laser displacement sensor, the drive
Dynamic circuit is connect with air bearing balance system, and the piezoelectric amplifier is connect with piezoelectric actuator, the charge amplifier respectively with
Acceleration transducer, piezoelectric transducer connection.
Further, the flexible hinge includes upper flexible hinge and lower flexible hinge.
Further, described device further includes clamping component, support and plate, and the clamping part clamps are one of soft
One end of property plate, and be fixed on plate by support.
Further, described device further includes the second support platform, and the laser displacement sensor is fixed on the second support
On platform.
The utility model have compared with the existing technology it is following the utility model has the advantages that
1, the utility model is by reasonable Design of Mechanical Structure, will at least two pieces of identical flexible boards perpendicular to water
Plane, and it is successively hinged by flexible hinge, form flexible hinged plate, kinetic characteristics and actual solar energy sailboard structure
More closely, effectively eliminate influence of other uncontrollable factors for vibration control effect, for the connection of research hinge for
The influence of flexible, hinged panel vibration provides good condition；Meanwhile using piezoelectric ceramic piece sensor and acceleration transducer
Contact measurement mode detect flexible hinged plate vibration signal, and using the non-contact of laser displacement sensor and industrial camera
When measurement method detect flexible hinged plate vibration signal, compare other single detection devices, using contact type measurement with it is non-contact
Formula measures the Multi-sensor Fusion of phase structure, effectively mitigates the load effect of flexible hinged plate, so that the data of measurement are more smart
Really, the flexible hinged plate vibration information obtained is more complete, can sufficiently reflect the global property of flexible hinged plate mode of oscillation.
2, the vision system of the utility model is provided with industrial camera, can be to the flexible hinge between adjacent two pieces of flexible boards
Chain perpendicular intrinsic displacement is detected, and by comparing the hinged flexible board vibration characteristics of different hinges, analyzes flexibility comprehensively
The mode of oscillation of articulated slab entirety.
3, the vision system of the utility model is also provided with holder, sliding block and guide rail, and guide rail is placed with horizontal direction
Mode is fixed on bracket, and sliding block is slidably arranged on guide rail, and industrial camera is fixed on sliding block by holder, therefore passes through cunning
The adjustable industrial camera of block can easily adjust industrial phase by holder for the position of flexible hinged plate by holder
The posture of machine, so that the signal for obtaining measurement is more accurate, complete.
4, the utility model devises a set of air bearing balance system, drives floating cushion jet to generate one layer by pneumatic circuit
Gas membrane effectively eliminates flexible hinged plate self weight for flexible, hinged to balance the larger gravity that each flexible board generates
The influence of plate ontology mode of oscillation.
Detailed description of the invention
Fig. 1 is the flexible board bending vibration detection control apparatus general structure schematic diagram of the utility model embodiment 1.
Fig. 2 is the main view of the flexible board bending vibration detection control apparatus of the utility model embodiment 1.
Fig. 3 is the top view of the flexible board bending vibration detection control apparatus of the utility model embodiment 1.
Fig. 4 is the right view of the flexible board bending vibration detection control apparatus of the utility model embodiment 1.
Fig. 5 is the structural schematic diagram of the flexible hinged plate of the utility model embodiment 1.
Fig. 6 is the structural schematic diagram of the laser displacement sensor of the utility model embodiment 1.
Fig. 7 is the rack-mount structural schematic diagram of the vision system of the utility model embodiment 1.
Fig. 8 is that the flexible board bending vibration of the utility model embodiment 1 detects control method flow chart.
Wherein, the first flexible board of 1-, the second flexible board of 2-, 3- third flexible board, the 4th flexible board of 4-, 5- vision system,
The first industrial camera of 501-, the second industrial camera of 502-, 503- third industrial camera, the first holder of 504-, the second holder of 505-,
506- third holder, the first sliding block of 507-, the second sliding block of 508-, 509- third sliding block, 510- guide rail, 6- bracket, 601- are vertical
Support rod, 602- horizontal support bar, the first acceleration transducer of 7-, the second acceleration transducer of 8-, the first piezoelectric transducer of 9-,
The second piezoelectric transducer of 10-, 11- third piezoelectric transducer, the 4th piezoelectric transducer of 12-, 13- first laser displacement sensor,
14- second laser displacement sensor, 15- third laser displacement sensor, the 4th laser displacement sensor of 16-, 17- Piezoelectric Driving
Device, the first flexible hinge of 18-, the second flexible hinge of 19-, 20- third flexible hinge, 21- clamping component, 22- support, 23- are flat
Plate, the first floating cushion of 24-, the second floating cushion of 25-, 26- air pump, 27- pneumatic triple piece, 28- switch valve, the support of 29- first are flat
Platform, 2901- first substrate, the first support leg of 2902-, the second support platform of 30-, 3001- the second substrate, 3002- second are supported
Foot, 3003- transverse support bar, 31- first base, 32- second base, 33- third pedestal, the 4th pedestal of 34-, 35- computer,
36- motion control card, 37- terminal board, 38- sensor controller, 39- driving circuit, 40- piezoelectric amplifier, the amplification of 41- charge
Device.
Specific embodiment
The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model
Mode is without being limited thereto.
Embodiment 1:
As shown in Figure 1 to 4, a kind of flexible board bending vibration detection control apparatus is present embodiments provided, the device packet
Include the first flexible board 1, the second flexible board 2, third flexible board 3, the 4th flexible board 4, vibration detection mechanism, driving mechanism and control
Component, vibration detection mechanism include vision system 5, bracket 6, the first acceleration transducer 7, the second acceleration transducer 8, first
Piezoelectric transducer 9, the second piezoelectric transducer 10, third piezoelectric transducer 11, the 4th piezoelectric transducer 12, first laser displacement pass
Sensor 13, second laser displacement sensor 14, third laser displacement sensor 15 and the 4th laser displacement sensor 16, driving machine
Structure includes piezoelectric actuator 17 and air bearing balance system, and the dotted line in Fig. 1 indicates the line relationship between each equipment, direction
Arrow shows the direction of transfer for detecting and controlling signal stream.
As shown in fig. 1~fig. 5, the first flexible board 1, the second flexible board 2, third flexible board 3 and the 4th flexible board 4 all have
First end and the second end opposite with first end, wherein first end is fixing end, and second end is free end；First flexible board 1,
Second flexible board 2, third flexible board 3 and the 4th flexible board 4 are from left to right successively cut with scissors perpendicular to horizontal plane, and by flexible hinge
It connects, forms one piece of flexible hinged plate, specifically, the second end of the first flexible board 1 is flexible by the first flexible hinge 18 and second
The first end of plate 2 is hinged, and the second end of the second flexible board 2 is cut with scissors by the first end of the second flexible hinge 19 and third flexible board 3
It connects, the second end of third flexible board 3 is hinged by third flexible hinge 20 and the first end of third flexible board 4, the first flexible hinge
Chain 18, the second flexible hinge 19 and third flexible hinge 20 all have upper and lower two pieces of flexible hinges；First acceleration transducer 7
It is mounted on the second flexible board 2, is specifically mounted on 2 width direction middle line of the second flexible board and away from second end (free end)
At 40mm, the second acceleration transducer 8 is mounted on the 4th flexible board 4, is specifically mounted on 4 width direction middle line of the 4th flexible board
At the upper and 40mm away from second end (free end), the first piezoelectric transducer 9 is mounted on the first flexible board 1, is specifically mounted on the
At on one flexible board, 1 width direction middle line and away from first end (fixing end) 150mm, attitude angle is 0 °, and single side is pasted, and can be used for examining
The vibration information of the first flexible board 1 is surveyed, the second piezoelectric transducer 10 is mounted on the second flexible board 2, and it is soft to be specifically mounted on second
Property 2 width direction middle line of plate on and away from first end (fixing end) 150mm at, attitude angle is 0 °, and single side is pasted, and can be used for detecting the
The vibration information of two flexible boards 2, third piezoelectric transducer 11 are mounted on third flexible board 3, are specifically mounted on third flexible board 3
At on width direction middle line and away from first end (fixing end) 150mm, attitude angle is 0 °, and single side is pasted, and can be used for detecting third soft
The vibration information of property plate 3, the 4th piezoelectric transducer 12 are mounted on the 4th flexible board 4, are specifically mounted on 4 width of the 4th flexible board
At on the middle line of direction and away from first end (fixing end) 150mm, attitude angle is 0 °, and single side is pasted, and can be used for detecting the 4th flexible board 4
Vibration information, piezoelectric actuator 17 is mounted on the first flexible board 1, specifically along the width direction middle line pair of the first flexible board 1
Title is pasted onto the first flexible board 1 at fixing end 70mm, and attitude angle is 0 °, double faced adhesive, and six, every face amounts to 12,
For inhibiting the vibration of flexible hinged plate by the first flexible board 1.
In order to stablize the first flexible board 1 of support, the second flexible board 2, third flexible board 3 and the 4th flexible board 4, the present embodiment
Flexible board bending vibration detection control apparatus further include clamping component 21, support 22 and plate 23, clamping component 21 clamps the
The first end (fixing end) of one flexible board 1, and by the fixed plate 23 of support 22.
The air bearing balance system includes the first floating cushion 24, the second floating cushion 25 and pneumatic circuit, the first floating cushion 24
It connect with the lower end of the second flexible board 2, is specifically connect with the lower end middle line edge of the second flexible board 2, the second floating cushion 25 and
The lower ends of four flexible boards 4 connects, and connect with the lower end middle line edge of the 4th flexible board 4, pneumatic circuit respectively with the first floating cushion
24, the second floating cushion 25 connects, and for providing gas-pressurized to the first floating cushion 24, the second floating cushion 25, makes monolith flexible hinge
Fishplate bar keeps balance, and pneumatic circuit includes air pump 26, pneumatic triple piece 27 and switch valve 28, air pump 26,27 and of pneumatic triple piece
Switch valve 28 is sequentially connected, and switch valve 28 uses two position three-way valve, is connected respectively with the first floating cushion 24, the second floating cushion 25
It connects, the first floating cushion 24 and the second floating cushion 25 are by pneumatic circuit driving jet one layer of gas membrane of generation, to the second flexible board 2
Gravity support is carried out with the 4th flexible board 4, monolith flexible hinged plate is made to keep balance.
Since flexible hinged plate has certain distance apart from plate 23, in order to make the first floating cushion 24, the second floating cushion 25 more
Good real estate anger body thin film, the flexible board bending vibration detection control apparatus of the present embodiment further include the first support platform 29, the
One support platform 29 is made of marble material, and the lower section of the first floating cushion 24, the second floating cushion 25, the first support is arranged in
Platform 29 and the first floating cushion 24, the second floating cushion 25 have a spacing of 1mm, and pneumatic circuit is to the first floating cushion 24, the second air bearing
After pad 25 provides gas-pressurized, make to form one layer of gas between the first floating cushion 24, the second floating cushion 25 and the first support platform 29
Body thin film；Further, the first support platform 29 includes first substrate 2901 and four first support legs, four first support legs
It is fixedly connected respectively with the lower surface of first substrate 2901, pneumatic circuit is provided to the first floating cushion 24, the second floating cushion 25 to be added
It calms the anger after body, keeps one layer of gas of formation between the first floating cushion 24, the second floating cushion 25 and the upper surface of first substrate 2901 thin
Film.
In the present embodiment, the material of the first flexible board 1, the second flexible board 2, third flexible board 3 and the 4th flexible board 4
The parameters such as material, size are identical, are epoxide resin material thin plate, and geometric dimension is 500mm × 500mm × 2mm.Asphalt mixtures modified by epoxy resin
The elasticity modulus of rouge is Ep=34.64Gpa, and density is ρ=1840kg/m3；First flexible hinge 18,19 and of the second flexible hinge
Upper and lower two pieces of flexible hinges of third flexible hinge 20 are having a size of 99mm × 71.5mm × 2mm；First acceleration transducer, 7 He
Second acceleration transducer 8 selects the capacitance type sensor of the model 8310B2 of Kistler company, and normal sensibility is
1000mv/g, measurement frequency range are 0-250Hz；First piezoelectric transducer 9, the second piezoelectric transducer 10, third piezoelectric sensing
Device 11 and the 4th piezoelectric transducer 12 are made of piezoceramic material, and geometric dimension is 30mm × 10mm × 1mm；Piezoelectric actuator
17 are made of piezoceramic material, and geometric dimension is 50mm × 15mm × 1mm, and the elasticity modulus of piezoceramic material is Ep=
63Gpa, d31=-166pm/V；Pneumatic triple piece 27 includes air filter, pressure reducing valve and oil sprayer, using Japanese SMC,
Model AC40, maximum working (operation) pressure (MWP) 1MPa, set pressure limit 0.05-0.85MPa, and filtering accuracy 5m uses oil turbine No.1
Oily (ISO VG32).
As shown in Fig. 1~Fig. 6, first laser displacement sensor 13 is directed at the first flexible board 1, and specifically, alignment first is soft
Property plate 1 width direction middle line on second end (free end) edge, for detect 1 second end of the first flexible board (free end) it is attached
Close bending vibration, second laser displacement sensor 14 are directed at the second flexible board 2, specifically, are directed at the width of the second flexible board 2
Second end (free end) edge on the middle line of direction, for detecting the bending vibration of 2 second end of the second flexible board (free end) nearby
Dynamic, third laser displacement sensor 15 is directed at third flexible board 3, specifically, is aligned on the width direction middle line of third flexible board 3
Second end (free end) edge, for detecting the bending vibration of 3 second end of third flexible board (free end) nearby, the 4th laser
Displacement sensor 16 is directed at the 4th flexible board 4, and specifically, the second end on the width direction middle line of the 4th flexible board 4 of alignment is (certainly
By holding) edge, for detecting the bending vibration of 4 second end of the 4th flexible board (free end) nearby,
In order to make first laser displacement sensor 13, second laser displacement sensor 14, third laser displacement sensor 15
With the 4th laser displacement sensor 16 can steady operation, the flexible board bending vibration detection control apparatus of the present embodiment further includes
Second support platform 30, first laser displacement sensor 13, second laser displacement sensor 14, third laser displacement sensor 15
It sets gradually, and is fixed in the second support platform 30 perpendicular to horizontal plane with the 4th laser displacement sensor 16；Further,
Second support platform 30 includes the second substrate 3001 and four second support legs 3002, and four second support legs 3002 are respectively with the
The lower surface of two substrates 3001 is fixedly connected, and transverse support bar 3003 is equipped between two adjacent second support legs 3002, is made
It is more firm to obtain entire support platform 30, wherein first laser displacement sensor 13 is fixed on the second substrate by first base 31
3001 upper surface, second laser displacement sensor 14 are fixed on the upper surface of the second substrate 3001 by second base 32, the
Three laser displacement sensors 15 are fixed on the upper surface of the second substrate 3001, the 4th laser displacement sensor by third pedestal 33
16 are fixed on the upper surface of the second substrate 3001 by the 4th pedestal 34.
In the present embodiment, first laser displacement sensor 13, second laser displacement sensor 14, third laser displacement pass
Sensor 15, the 4th laser displacement sensor 16 are using the identical laser produced by Japanese Keyemce (KEYENCE) company of model
Displacement sensor, every laser displacement sensor and sensor controller 38 constitute a set of laser displacement inspecting equipment, and every set swashs
Light displacement detection device is respectively by a laser probe (laser displacement sensor), a sensor controller and an extension electricity
Cable composition, model is respectively LK-500, LK-2500 and LK-C2；Every laser displacement sensor is supplied using 24V DC power supply
Electricity is provided over long distances with two kinds of measurement patterns of high-precision, can be according to different measurement environment and object, in sensor controller
The selection of measurement pattern is carried out on 38；Under long range measurements mode, repeatable accuracy is 50 μm, laser probe and measured surface
Reference distance is 500mm, and measuring range is -250~+250mm, and corresponding analog output voltage is -5~+5V.It is surveyed in high-precision
Under amount mode, repeatable accuracy is 10 μm, and the reference distance of laser probe and measured surface is 350mm, and measuring range is -100
~+100mm, corresponding analog output voltage are -10~+10V；It therefore, can be by laser probe using long range measurements mode
It is mounted on the position except measured object certain distance, or obtains a biggish measurement range, and high-precision is used to survey
Amount mode can obtain high-resolution；For two kinds of measurement patterns, the linearity of laser displacement inspecting equipment is ± 0.1%, is adopted
The sample period is 24 μ s, and when the distance between measured surface and laser probe are more than measurement range, analog output voltage all will
Remain 12V；Second support platform 30 is assembled by the aluminum profile that three kinds of length are respectively 2000mm, 600mm, 500mm, the
Two substrates 3001 are one piece of 2120mm × 720mm × 8mm stainless steel plate, are connect by screw with profile, each company of profile
The place of connecing has angle bar to fix.
As shown in FIG. 1 to FIG. 5, Fig. 7, the vision system 5 is arranged on the frame 6, for detecting between each flexible board
Flexible hinge, the bracket 6 include two vertical support rods 601 and a horizontal support bar 602, two vertical support rods 601
One end be fixedly connected respectively with the both ends of horizontal support bar 602, the other end of two vertical support rods 601 is fixed on plate
On 23, the vision system 5 of the present embodiment is trinocular vision system comprising the first industrial camera 501, the second industrial camera 502,
Third industrial camera 503, the first holder 504, the second holder 505, third holder 506, the first sliding block 507, the second sliding block 508,
Third sliding block 509 and guide rail 510, guide rail 510 is fixed to be specifically fixed on the horizontal support bar 602 of bracket 6 on the frame 6, the
One sliding block 507, the second sliding block 508 and third sliding block 509 are slidably arranged on guide rail 510, i.e. the first sliding block 507, the second sliding block
508 and third sliding block 509 moved along guide rail 510, the camera lens of the first industrial camera 501 is directed at the first flexible hinge 18 straight down
Upper flexible hinge, for detect the first flexible hinge 18 change in displacement (the first flexible board 1 and the second flexible board nearby nearby
2 upper end micro-displacement variable quantities), the camera lens of the second industrial camera 502 is directed at the upper flexibility of the second flexible hinge 19 straight down
Hinge, for detecting the second flexible hinge 19, nearby (neighbouring the second flexible board 2 and 3 upper end of third flexible board is micro- for change in displacement
Thin tail sheep variable quantity), the camera lens of third industrial camera 503 is directed at the upper flexible hinge of third flexible hinge 20 straight down, uses
In detection third flexible hinge 20, nearby (neighbouring third flexible board 3 and 4 upper end micro-displacement of the 4th flexible board become change in displacement
Change amount), the first holder 504, the second holder 505 and third holder 506 are ball-shaped cloud platform, and the setting of the first industrial camera 501 exists
On first holder 504, the angle lens of the first industrial camera 501 are freely adjusted by the first holder 504, the second work
Industry camera 502 is arranged on the second holder 505, and the angle lens of the second industrial camera 502 is allowed to pass through the second holder 504
It freely adjusts, third industrial camera 503 is arranged on third holder 506, so that the angle lens of third industrial camera 503 can be with
It is freely adjusted by third holder 506, the first holder 504 is fixed on the first sliding block 507, and the second holder 505 is fixed on second
On sliding block 508, third holder 506 is fixed on third sliding block 509, that is to say, that by adjusting the first sliding block 507, the second sliding block
508 and third sliding block 509 position, can accordingly adjust the first industrial camera 501, the second industrial camera 502 and third industry
The position of camera 503, the i.e. vertical direction of the first industrial camera 501, the second industrial camera 502 and third industrial camera 503 are solid
Fixed, horizontal direction can automatically move.
The control assembly includes computer 35, motion control card 36, terminal board 37, sensor controller 38, driving electricity
Road 39, piezoelectric amplifier 40 and charge amplifier 41, computer 35, motion control card 36 and terminal board 37 are sequentially connected, movement
Control card 36 is connect with sensor controller 38, driving circuit 39 respectively, and terminal board 37 is put with piezoelectric amplifier 40, charge respectively
Big device 41 connects.
The computer 35 is industrial with the first industrial camera 501 of vision system 5, the second industrial camera 502, third respectively
Camera 503 connects, and the vibration signal that the first industrial camera 501, the second industrial camera 502, third industrial camera 503 detect is direct
It is input in computer 35 and is handled, obtaining each flexible hinge, (the first flexible hinge 18, the second flexible hinge 19 and third are soft
Property hinge 20) neighbouring corresponding bending vibration feedback signal.
The sensor controller 38 respectively with first laser displacement sensor 13, second laser displacement sensor 14,
Three laser displacement sensors 15, the connection of the 4th laser displacement sensor 16, first laser displacement sensor 13, second laser displacement
The vibration signal that sensor 14, third laser displacement sensor 15, the 4th laser displacement sensor 16 detect passes through laser displacement
Sensor controller 38 is output to motion control card 36, by the A/D conversion module inside motion control card 36 by analog signal
It is converted into digital signal to be input in computer 35, then carries out subsequent processing through computer 35.
The driving circuit 39 is switch valve-driving circuit, is connect with the switch valve 28 of air bearing balance system, computer
Control signal is passed through 36 input driving circuit 39 of motion control card by 35, by 39 driving switch valve 28 of driving circuit, so that air pump
26, the pneumatic circuit that pneumatic triple piece 27 and switch valve 28 are constituted provides pressurization gas to the first floating cushion 24, the first floating cushion 25
Body.
The piezoelectric amplifier 40 is connect with piezoelectric actuator 17, and the vibrational feedback signal of computer 35 is via motion control
The D/A conversion module of card exports, then is transmitted by the information of terminal board 37, by 40 amplified signal of piezoelectric amplifier, is output to
It is responded in piezoelectric actuator 41, the vibration of flexible hinged plate is controlled by the first flexible board 1.
The charge amplifier 41 is passed with the first acceleration transducer 7, the second acceleration transducer 8, the first piezoelectricity respectively
Sensor 9, the second piezoelectric transducer 10, third piezoelectric transducer 11, the connection of the 4th piezoelectric transducer 12, by the first acceleration sensing
The vibration signal that device 7, the second acceleration transducer 8 detect is after 41 enhanced processing of charge amplifier, via terminal board 37
Transmission exports to motion control card 36, converts analog signals into number by the A/D conversion module inside motion control card 36
Signal is input in computer 35, then carries out subsequent processing through computer 35, while by the first piezoelectric transducer 9, the second piezoelectricity
The vibration signal that sensor 10, third piezoelectric transducer 11, the 4th piezoelectric transducer 12 detect is put by charge amplifier 41
After big processing, via the transmission of terminal board 37, output to motion control card 36 is converted by the A/D inside motion control card 36
Module converts analog signals into digital signal and is input in computer 35, then carries out subsequent processing through computer 35.
In the present embodiment, the first industrial camera 501, the second industrial camera 502, third industrial camera 503 select Germany
Basler company CMOS camera, model Basler acA1600-60gc, the image size of acquisition is 1600 × 1200
Pixel, about 2,000,000 pixels, frame per second are 60 frames/second, and lens interface is C interface, and each industrial camera connects with computer 35
Mouth is GigE, and transmission speed is better than USB interface；The CPU model core76650U2.2GHz of the computer 35 of selection, it is interior
4G is deposited, there is PCI-e slot, mountable motion control card 36 in mainboard；Motion control card 36 selects the fortune produced by Gu Gao company
Dynamic control card, model GTS-400-PV-PCI；Four shaft end daughter boards, the 37 model GT2- being used cooperatively with motion control card
400-ACC2-V-AD16；When work, the CN16 of terminal board 37 connects the external 24V DC power supply of user's offer, CN17 interface and fortune
Dynamic control card 36 connects.CN1~CN4 interface provides the output of four road analog voltages, and output area is -10~+10V；Piezoelectricity amplification
The parts such as the piezoelectric amplifier of model APEX-PA241DW or APEX-PA240CX composition can be selected in device 40, and research institute is
South China Science & Engineering University, in entitled " space sailboard bend and the turning mode vibration simulation active control device of applicant's application
With method ", application No. is being discussed in detail in 200810027186.4 patent application, amplification factor can reach 52 times, that is, incite somebody to action-
5V~+5V is amplified to -260~+260V；Charge amplifier 41 selects the YE5850 type charge of Jiangsu Lian Neng Electronics Co., Ltd. to put
Big device.
As shown in FIG. 1 to FIG. 8, the present embodiment additionally provides a kind of flexible board bending vibration detection control method, this method
The following steps are included:
Step 1: the first industrial camera 501 of vision system 4, the second industrial camera 502, third industrial camera 503 are distinguished
Detect the first flexible hinge 18, the second flexible hinge 19 and third flexible hinge 20 change in displacement nearby, the first acceleration sensing
Device 7 detects the vibration signal of 2 free end edge of the second flexible board, and the second acceleration transducer 8 detects 2 free end of the 4th flexible board
The vibration signal at edge, the first piezoelectric transducer 9 detect the bending vibration near 1 fixing end of the first flexible board, and the second piezoelectricity passes
Sensor 10 detects the bending vibration near 2 fixing end of the second flexible board, and it is fixed that third piezoelectric transducer 11 detects third flexible board 3
Bending vibration near end, the 4th piezoelectric transducer 12 detect the bending vibration near 4 fixing end of the 4th flexible board, first laser
Displacement sensor 13 detects the bending vibration near 1 free end of the first flexible board, the detection of second laser displacement sensor 13 second
Bending vibration near 2 free end of flexible board, third laser displacement sensor 15 detect curved near 3 free end of third flexible board
Qu Zhendong, the 4th laser displacement sensor 16 detect the bending vibration near 4 free end of the 4th flexible board；
Step 2: the vibration that the first industrial camera 501, the second industrial camera 502, third industrial camera 503 are detected
Signal is directly inputted into computer；The vibration signal warp that first acceleration transducer 7, the second acceleration transducer 8 are detected
After crossing 41 enhanced processing of charge amplifier, via the transmission of terminal board 37, exports to motion control card 36, pass through motion control card
A/D conversion module inside 36 converts analog signals into digital signal and is input in computer 35；By the first piezoelectric transducer
9, the vibration signal that the second piezoelectric transducer 10, third piezoelectric transducer 11, the 4th piezoelectric transducer 12 detect passes through charge
After 41 enhanced processing of amplifier, via the transmission of terminal board 37, export to motion control card 36, inside motion control card 36
A/D conversion module convert analog signals into digital signal and be input in computer 35；By first laser displacement sensor 13,
The vibration letter that second laser displacement sensor 14, third laser displacement sensor 15, the 4th laser displacement sensor 16 detect
Number motion control card 36 is transmitted to by sensor controller 38, by the A/D conversion module inside motion control card 36 by mould
Quasi- signal is converted into digital signal and is input in computer 35；
Step 3: computer 35 runs corresponding Algorithm of Active Control according to the vibration signal detected, obtain corresponding
Vibrational feedback signal is exported via the D/A conversion module of motion control card 36, then is transmitted by the information of terminal board 37, through over-voltage
40 amplified signal of electric amplifier, is output in piezoelectric actuator 17 and is responded, and controls flexible hinged plate by the first flexible board 1
Vibration；
Step 4: by changing control parameter, repetition test obtains many experiments as a result, obtaining the vibration of flexible hinged plate
Dynamic characteristic and control effect.
Embodiment 2:
The present embodiment is mainly characterized by: flexible board can also be two pieces, and correspondingly, acceleration transducer can be one
Or two, floating cushion can be one, and piezoelectric transducer can be two panels, and laser displacement sensor is two, and industrial camera is
One, holder is one, and sliding block is one；Flexible board may be three pieces, correspondingly, acceleration transducer can for one or
Two, floating cushion can be one or two, and piezoelectric transducer can be three pieces, and laser displacement sensor is three, industrial phase
Machine is two, and holder is two, and sliding block is two；Similarly, it is also similar design that flexible board, which is five pieces or more,.Remaining is the same as implementation
Example 1.
In conclusion the utility model passes through reasonable Design of Mechanical Structure, it will at least two pieces of identical flexible boards
Perpendicular to horizontal plane, and it is successively hinged by flexible hinge, form flexible hinged plate, kinetic characteristics and actual solar energy
Windsurfing structure is more closely, effectively eliminate influence of other uncontrollable factors for vibration control effect, to study hinge
It connects the influence for flexible, hinged panel vibration and provides good condition；Meanwhile using piezoelectric ceramic piece sensor and acceleration
The contact measurement mode of degree sensor detects flexible hinged plate vibration signal, and uses laser displacement sensor and industrial camera
Non-contact measurement when detect flexible hinged plate vibration signal, compare other single detection devices, using contact type measurement
With the Multi-sensor Fusion of non-contact measurement phase structure, effectively mitigate the load effect of flexible hinged plate, so that the number of measurement
According to more accurate, obtained flexible hinged plate vibration information is more complete, can sufficiently reflect flexible hinged plate mode of oscillation
Global property.
The above, only the utility model patent preferred embodiment, but the protection scope of the utility model patent is simultaneously
Not limited to this, anyone skilled in the art is in the range disclosed in the utility model patent, according to this
Technical solution and its utility model design of utility model patent are subject to equivalent substitution or change, belong to the utility model patent
Protection scope.
Claims (9)
1. flexible board bending vibration detection control apparatus, it is characterised in that: including at least two pieces of flexible boards, vibration detection mechanism,
Driving mechanism and control assembly；
At least two pieces of flexible boards are perpendicular to horizontal plane, and, formation flexible, hinged successively hinged by flexible hinge
Plate；
The vibration detection mechanism includes vision system, bracket, at least one acceleration transducer, at least two panels piezoelectric transducer
At least two laser displacement sensors, the vision system is arranged on bracket, for detecting the flexibility between each flexible board
Hinge, each acceleration transducer are disposed therein on one piece of flexible board, the piezoelectric transducer, laser displacement sensor and soft
Property plate be to correspond, every piezoelectric transducer is arranged on corresponding flexible board, every laser displacement sensor alignment pair
The flexible board answered；
The driving mechanism includes piezoelectric actuator and air bearing balance system, and piezoelectric actuator is arranged on one piece of flexible board, institute
Air bearing balance system is stated to connect at least one piece of flexible board；
The control assembly is driven with vision system, acceleration transducer, piezoelectric transducer, laser displacement sensor, piezoelectricity respectively
Dynamic device, the connection of air bearing balance system.
2. flexible board bending vibration detection control apparatus according to claim 1, it is characterised in that: air bearing balance system
System includes at least one floating cushion and pneumatic circuit, and each floating cushion is connect with the lower end of one of flexible board, described pneumatic
Circuit is connect with floating cushion, for providing gas-pressurized to floating cushion.
3. flexible board bending vibration detection control apparatus according to claim 2, it is characterised in that: the pneumatic circuit packet
Air pump, pneumatic triple piece and switch valve are included, the air pump, pneumatic triple piece and switch valve are sequentially connected, the switch valve and gas
Camel connection.
4. flexible board bending vibration detection control apparatus according to claim 2 or 3, it is characterised in that: described device is also
Including the first support platform, the lower section of floating cushion is arranged in first support platform, and the pneumatic circuit is provided to floating cushion
After gas-pressurized, make to form thin film between floating cushion and the first support platform.
5. flexible board bending vibration detection control apparatus according to claim 1, it is characterised in that: the vision system packet
It includes an at least industrial camera, at least one holder, at least one sliding block and a guide rail, the guide rail and is fixed on bracket
On, the industrial camera, holder and sliding block are to correspond, and each sliding block is slidably arranged on guide rail, every industrial camera
Camera lens be directed at the flexible hinge between adjacent two pieces of flexible boards straight down, and every industrial camera is arranged in corresponding holder
On, each holder is fixed on corresponding sliding block.
6. flexible board bending vibration detection control apparatus according to claim 1, it is characterised in that: the control assembly packet
Computer, motion control card, terminal board, sensor controller, driving circuit, piezoelectric amplifier and charge amplifier are included, it is described
Computer, motion control card and terminal board are sequentially connected, and the motion control card connects with sensor controller, driving circuit respectively
It connects, the terminal board is connect with piezoelectric amplifier, charge amplifier respectively；
The computer is connect with vision system, and the sensor controller is connect with laser displacement sensor, the driving electricity
Road is connect with air bearing balance system, and the piezoelectric amplifier is connect with piezoelectric actuator, the charge amplifier respectively with acceleration
Spend sensor, piezoelectric transducer connection.
7. -3, the described in any item flexible board bending vibration detection control apparatus of 5-6 according to claim 1, it is characterised in that: institute
Stating flexible hinge includes upper flexible hinge and lower flexible hinge.
8. -3, the described in any item flexible board bending vibration detection control apparatus of 5-6 according to claim 1, it is characterised in that: institute
Stating device further includes clamping component, support and plate, one end of the one of flexible board of clamping part clamps, and passes through branch
Seat is fixed on plate.
9. -3, the described in any item flexible board bending vibration detection control apparatus of 5-6 according to claim 1, it is characterised in that: institute
Stating device further includes the second support platform, and the laser displacement sensor is fixed in the second support platform.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801440A (en) * | 2018-07-12 | 2018-11-13 | 华南理工大学 | Flexible board bending vibration detection control apparatus and method |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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